Initial import of ceres-solver 1.4.0
Added a NOTICE and a MODULE_LICENSE_BSD file.
Added Android.mk for master build and unbundled build.
Added CleanSpec.mk to optimize Android build.
Change-Id: I6cd82bcabc1a94b10239f9fca017de0afd20e769
diff --git a/Android.mk b/Android.mk
new file mode 100644
index 0000000..2bb68cf
--- /dev/null
+++ b/Android.mk
@@ -0,0 +1,107 @@
+LOCAL_PATH := $(call my-dir)
+include $(CLEAR_VARS)
+
+LOCAL_MODULE := libceres
+
+LOCAL_SDK_VERSION := 17
+LOCAL_NDK_STL_VARIANT := stlport_static
+
+LOCAL_C_INCLUDES := $(LOCAL_PATH)/internal \
+ $(LOCAL_PATH)/internal/ceres \
+ $(LOCAL_PATH)/include \
+ $(LOCAL_PATH)/internal/ceres/miniglog \
+ external/eigen
+
+LOCAL_CPP_EXTENSION := .cc
+LOCAL_CPPFLAGS := -DCERES_NO_PROTOCOL_BUFFERS \
+ -DCERES_NO_SUITESPARSE \
+ -DCERES_NO_GFLAGS \
+ -DCERES_NO_THREADS \
+ -DCERES_NO_CXSPARSE \
+ -DCERES_NO_TR1 \
+ -DCERES_WORK_AROUND_ANDROID_NDK_COMPILER_BUG \
+ -O3 -w
+
+# On Android NDK 8b, GCC gives spurrious warnings about ABI incompatibility for
+# which there is no solution. Hide the warning instead.
+LOCAL_CPPFLAGS += -Wno-psabi
+
+LOCAL_SRC_FILES := internal/ceres/array_utils.cc \
+ internal/ceres/block_evaluate_preparer.cc \
+ internal/ceres/block_jacobian_writer.cc \
+ internal/ceres/block_jacobi_preconditioner.cc \
+ internal/ceres/block_random_access_dense_matrix.cc \
+ internal/ceres/block_random_access_matrix.cc \
+ internal/ceres/block_random_access_sparse_matrix.cc \
+ internal/ceres/block_sparse_matrix.cc \
+ internal/ceres/block_structure.cc \
+ internal/ceres/canonical_views_clustering.cc \
+ internal/ceres/cgnr_solver.cc \
+ internal/ceres/compressed_row_jacobian_writer.cc \
+ internal/ceres/compressed_row_sparse_matrix.cc \
+ internal/ceres/conditioned_cost_function.cc \
+ internal/ceres/conjugate_gradients_solver.cc \
+ internal/ceres/coordinate_descent_minimizer.cc \
+ internal/ceres/corrector.cc \
+ internal/ceres/dense_normal_cholesky_solver.cc \
+ internal/ceres/dense_qr_solver.cc \
+ internal/ceres/dense_sparse_matrix.cc \
+ internal/ceres/detect_structure.cc \
+ internal/ceres/dogleg_strategy.cc \
+ internal/ceres/evaluator.cc \
+ internal/ceres/file.cc \
+ internal/ceres/gradient_checking_cost_function.cc \
+ internal/ceres/implicit_schur_complement.cc \
+ internal/ceres/iterative_schur_complement_solver.cc \
+ internal/ceres/levenberg_marquardt_strategy.cc \
+ internal/ceres/linear_least_squares_problems.cc \
+ internal/ceres/linear_operator.cc \
+ internal/ceres/linear_solver.cc \
+ internal/ceres/local_parameterization.cc \
+ internal/ceres/loss_function.cc \
+ internal/ceres/miniglog/glog/logging.cc \
+ internal/ceres/normal_prior.cc \
+ internal/ceres/parameter_block_ordering.cc \
+ internal/ceres/partitioned_matrix_view.cc \
+ internal/ceres/polynomial_solver.cc \
+ internal/ceres/problem.cc \
+ internal/ceres/problem_impl.cc \
+ internal/ceres/program.cc \
+ internal/ceres/residual_block.cc \
+ internal/ceres/residual_block_utils.cc \
+ internal/ceres/runtime_numeric_diff_cost_function.cc \
+ internal/ceres/schur_complement_solver.cc \
+ internal/ceres/schur_eliminator.cc \
+ internal/ceres/scratch_evaluate_preparer.cc \
+ internal/ceres/solver.cc \
+ internal/ceres/solver_impl.cc \
+ internal/ceres/sparse_matrix.cc \
+ internal/ceres/sparse_normal_cholesky_solver.cc \
+ internal/ceres/split.cc \
+ internal/ceres/stringprintf.cc \
+ internal/ceres/suitesparse.cc \
+ internal/ceres/triplet_sparse_matrix.cc \
+ internal/ceres/trust_region_minimizer.cc \
+ internal/ceres/trust_region_strategy.cc \
+ internal/ceres/types.cc \
+ internal/ceres/visibility_based_preconditioner.cc \
+ internal/ceres/visibility.cc \
+ internal/ceres/wall_time.cc \
+ internal/ceres/generated/schur_eliminator_d_d_d.cc \
+ internal/ceres/generated/schur_eliminator_2_2_2.cc \
+ internal/ceres/generated/schur_eliminator_2_2_3.cc \
+ internal/ceres/generated/schur_eliminator_2_2_4.cc \
+ internal/ceres/generated/schur_eliminator_2_2_d.cc \
+ internal/ceres/generated/schur_eliminator_2_3_3.cc \
+ internal/ceres/generated/schur_eliminator_2_3_4.cc \
+ internal/ceres/generated/schur_eliminator_2_3_9.cc \
+ internal/ceres/generated/schur_eliminator_2_3_d.cc \
+ internal/ceres/generated/schur_eliminator_2_4_3.cc \
+ internal/ceres/generated/schur_eliminator_2_4_4.cc \
+ internal/ceres/generated/schur_eliminator_2_4_d.cc \
+ internal/ceres/generated/schur_eliminator_4_4_2.cc \
+ internal/ceres/generated/schur_eliminator_4_4_3.cc \
+ internal/ceres/generated/schur_eliminator_4_4_4.cc \
+ internal/ceres/generated/schur_eliminator_4_4_d.cc
+
+include $(BUILD_STATIC_LIBRARY)
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..ad67e25
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,652 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+# http://code.google.com/p/ceres-solver/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+# used to endorse or promote products derived from this software without
+# specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: keir@google.com (Keir Mierle)
+
+CMAKE_MINIMUM_REQUIRED(VERSION 2.8.0)
+
+IF (COMMAND cmake_policy)
+ CMAKE_POLICY(SET CMP0003 NEW)
+ENDIF (COMMAND cmake_policy)
+
+PROJECT(CERES C CXX)
+
+# Set up the git hook to make Gerrit Change-Id: lines in commit messages.
+SET (LOCAL_GIT_DIRECTORY)
+IF (EXISTS ${CMAKE_SOURCE_DIR}/.git)
+ # .git directory can be found on Unix based system, or on Windows with
+ # Git Bash (shipped with msysgit)
+ SET (LOCAL_GIT_DIRECTORY ${CMAKE_SOURCE_DIR}/.git)
+ELSE (EXISTS ${CMAKE_SOURCE_DIR}/.git)
+ # TODO(keir) Add proper windows support
+ENDIF (EXISTS ${CMAKE_SOURCE_DIR}/.git)
+
+IF (EXISTS ${LOCAL_GIT_DIRECTORY})
+ IF (NOT EXISTS ${LOCAL_GIT_DIRECTORY}/hooks/commit-msg)
+ # Download the hook only if it is not already present
+ FILE(DOWNLOAD https://ceres-solver-review.googlesource.com/tools/hooks/commit-msg
+ ${CMAKE_BINARY_DIR}/commit-msg)
+
+ # Make the downloaded file executable, since it is not by default.
+ FILE(COPY ${CMAKE_BINARY_DIR}/commit-msg
+ DESTINATION ${LOCAL_GIT_DIRECTORY}/hooks/
+ FILE_PERMISSIONS
+ OWNER_READ OWNER_WRITE OWNER_EXECUTE
+ GROUP_READ GROUP_WRITE GROUP_EXECUTE
+ WORLD_READ WORLD_EXECUTE)
+ ENDIF (NOT EXISTS ${LOCAL_GIT_DIRECTORY}/hooks/commit-msg)
+ENDIF (EXISTS ${LOCAL_GIT_DIRECTORY})
+
+SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
+SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
+SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
+
+# Important: Always bump the second number (e.g. 1.3.x to 1.4.0) for any
+# release that changes the ABI. The ABI changes for almost any modification to
+# include/ceres (e.g. the public API). If you are unsure about whether
+# something is an ABI change, please ask on the list.
+#
+# For versions without ABI changes, bump the smallest number in CERES_VERSION,
+# but leave the CERES_ABI_VERSION unchanged.
+SET(CERES_VERSION 1.4.0)
+SET(CERES_ABI_VERSION 1.4.0)
+
+ENABLE_TESTING()
+
+OPTION(BUILD_TESTING
+ "Enable tests"
+ ON)
+
+OPTION(BUILD_ANDROID
+ "Build for Android. Use build_android.sh instead of setting this."
+ OFF)
+
+# To get a more static build, try the following line on Mac and Linux:
+# SET(CMAKE_FIND_LIBRARY_SUFFIXES .a ${CMAKE_FIND_LIBRARY_SUFFIXES})
+
+# Default locations to search for on various platforms.
+LIST(APPEND SEARCH_LIBS /usr/lib)
+LIST(APPEND SEARCH_LIBS /usr/local/lib)
+LIST(APPEND SEARCH_LIBS /usr/local/homebrew/lib) # Mac OS X
+LIST(APPEND SEARCH_LIBS /opt/local/lib)
+
+LIST(APPEND SEARCH_HEADERS /usr/include)
+LIST(APPEND SEARCH_HEADERS /usr/local/include)
+LIST(APPEND SEARCH_HEADERS /usr/local/homebrew/include) # Mac OS X
+LIST(APPEND SEARCH_HEADERS /opt/local/include)
+
+# Locations to search for Eigen
+SET(EIGEN_SEARCH_HEADERS ${SEARCH_HEADERS})
+LIST(APPEND EIGEN_SEARCH_HEADERS /usr/include/eigen3) # Ubuntu 10.04's default location.
+LIST(APPEND EIGEN_SEARCH_HEADERS /usr/local/include/eigen3)
+LIST(APPEND EIGEN_SEARCH_HEADERS /usr/local/homebrew/include/eigen3) # Mac OS X
+LIST(APPEND EIGEN_SEARCH_HEADERS /opt/local/var/macports/software/eigen3/opt/local/include/eigen3) # Mac OS X
+
+# Locations to search for SuiteSparse
+SET(SUITESPARSE_SEARCH_LIBS ${SEARCH_LIBS})
+LIST(APPEND SUITESPARSE_SEARCH_LIBS /usr/lib/suitesparse) # Ubuntu
+LIST(APPEND SUITESPARSE_SEARCH_LIBS /usr/local/lib/suitesparse)
+LIST(APPEND SUITESPARSE_SEARCH_LIBS /opt/local/lib/ufsparse) # Mac OS X
+
+SET(SUITESPARSE_SEARCH_HEADERS ${SEARCH_HEADERS})
+LIST(APPEND SUITESPARSE_SEARCH_HEADERS /usr/include/suitesparse) # Ubuntu
+LIST(APPEND SUITESPARSE_SEARCH_HEADERS /usr/local/include/suitesparse)
+LIST(APPEND SUITESPARSE_SEARCH_HEADERS /opt/local/include/ufsparse) # Mac OS X
+
+SET(CXSPARSE_SEARCH_LIBS ${SEARCH_LIBS})
+SET(CXSPARSE_SEARCH_HEADERS ${SEARCH_HEADERS})
+LIST(APPEND CXSPARSE_SEARCH_HEADERS /usr/include/suitesparse) # Ubuntu
+
+# Check for SuiteSparse dependencies
+MESSAGE("-- Check for AMD")
+SET(AMD_FOUND TRUE)
+
+FIND_LIBRARY(AMD_LIB NAMES amd PATHS ${SUITESPARSE_SEARCH_LIBS})
+IF (EXISTS ${AMD_LIB})
+ MESSAGE("-- Found AMD library: ${AMD_LIB}")
+ELSE (EXISTS ${AMD_LIB})
+ MESSAGE("-- Did not find AMD library")
+ SET(AMD_FOUND FALSE)
+ENDIF (EXISTS ${AMD_LIB})
+
+FIND_PATH(AMD_INCLUDE NAMES amd.h PATHS ${SUITESPARSE_SEARCH_HEADERS})
+IF (EXISTS ${AMD_INCLUDE})
+ MESSAGE("-- Found AMD header in: ${AMD_INCLUDE}")
+ELSE (EXISTS ${AMD_INCLUDE})
+ MESSAGE("-- Did not find AMD header")
+ SET(AMD_FOUND FALSE)
+ENDIF (EXISTS ${AMD_INCLUDE})
+
+MESSAGE("-- Check for CAMD")
+SET(CAMD_FOUND TRUE)
+
+FIND_LIBRARY(CAMD_LIB NAMES camd PATHS ${SUITESPARSE_SEARCH_LIBS})
+IF (EXISTS ${CAMD_LIB})
+ MESSAGE("-- Found CAMD library: ${CAMD_LIB}")
+ELSE (EXISTS ${CAMD_LIB})
+ MESSAGE("-- Did not find CAMD library")
+ SET(CAMD_FOUND FALSE)
+ENDIF (EXISTS ${CAMD_LIB})
+
+FIND_PATH(CAMD_INCLUDE NAMES camd.h PATHS ${SUITESPARSE_SEARCH_HEADERS})
+IF (EXISTS ${CAMD_INCLUDE})
+ MESSAGE("-- Found CAMD header in: ${CAMD_INCLUDE}")
+ELSE (EXISTS ${CAMD_INCLUDE})
+ MESSAGE("-- Did not find CAMD header")
+ SET(CAMD_FOUND FALSE)
+ENDIF (EXISTS ${CAMD_INCLUDE})
+
+MESSAGE("-- Check for COLAMD")
+SET(COLAMD_FOUND TRUE)
+
+FIND_LIBRARY(COLAMD_LIB NAMES colamd PATHS ${SUITESPARSE_SEARCH_LIBS})
+IF (EXISTS ${COLAMD_LIB})
+ MESSAGE("-- Found COLAMD library: ${COLAMD_LIB}")
+ELSE (EXISTS ${COLAMD_LIB})
+ MESSAGE("-- Did not find COLAMD library")
+ SET(COLAMD_FOUND FALSE)
+ENDIF (EXISTS ${COLAMD_LIB})
+
+FIND_PATH(COLAMD_INCLUDE NAMES colamd.h PATHS ${SUITESPARSE_SEARCH_HEADERS})
+IF (EXISTS ${COLAMD_INCLUDE})
+ MESSAGE("-- Found COLAMD header in: ${COLAMD_INCLUDE}")
+ELSE (EXISTS ${COLAMD_INCLUDE})
+ MESSAGE("-- Did not find COLAMD header")
+ SET(COLAMD_FOUND FALSE)
+ENDIF (EXISTS ${COLAMD_INCLUDE})
+
+MESSAGE("-- Check for CCOLAMD")
+SET(CCOLAMD_FOUND TRUE)
+
+FIND_LIBRARY(CCOLAMD_LIB NAMES ccolamd PATHS ${SUITESPARSE_SEARCH_LIBS})
+IF (EXISTS ${CCOLAMD_LIB})
+ MESSAGE("-- Found CCOLAMD library: ${CCOLAMD_LIB}")
+ELSE (EXISTS ${CCOLAMD_LIB})
+ MESSAGE("-- Did not find CCOLAMD library")
+ SET(CCOLAMD_FOUND FALSE)
+ENDIF (EXISTS ${CCOLAMD_LIB})
+
+FIND_PATH(CCOLAMD_INCLUDE NAMES ccolamd.h PATHS ${SUITESPARSE_SEARCH_HEADERS})
+IF (EXISTS ${CCOLAMD_INCLUDE})
+ MESSAGE("-- Found CCOLAMD header in: ${CCOLAMD_INCLUDE}")
+ELSE (EXISTS ${CCOLAMD_INCLUDE})
+ MESSAGE("-- Did not find CCOLAMD header")
+ SET(CCOLAMD_FOUND FALSE)
+ENDIF (EXISTS ${CCOLAMD_INCLUDE})
+
+MESSAGE("-- Check for CHOLMOD")
+SET(CHOLMOD_FOUND TRUE)
+
+FIND_LIBRARY(CHOLMOD_LIB NAMES cholmod PATHS ${SUITESPARSE_SEARCH_LIBS})
+IF (EXISTS ${CHOLMOD_LIB})
+ MESSAGE("-- Found CHOLMOD library: ${CHOLMOD_LIB}")
+ELSE (EXISTS ${CHOLMOD_LIB})
+ MESSAGE("-- Did not find CHOLMOD library")
+ SET(CHOLMOD_FOUND FALSE)
+ENDIF (EXISTS ${CHOLMOD_LIB})
+
+FIND_PATH(CHOLMOD_INCLUDE NAMES cholmod.h PATHS ${SUITESPARSE_SEARCH_HEADERS})
+IF (EXISTS ${CHOLMOD_INCLUDE})
+ MESSAGE("-- Found CHOLMOD header in: ${CHOLMOD_INCLUDE}")
+ELSE (EXISTS ${CHOLMOD_INCLUDE})
+ MESSAGE("-- Did not find CHOLMOD header")
+ SET(CHOLMOD_FOUND FALSE)
+ENDIF (EXISTS ${CHOLMOD_INCLUDE})
+
+# If SuiteSparse version is >= 4 then SuiteSparse_config is required.
+# For SuiteSparse 3, UFconfig.h is required.
+MESSAGE("-- Check for SuiteSparse_config (SuiteSparse v4)")
+SET(SUITESPARSE_CONFIG_FOUND TRUE)
+
+FIND_LIBRARY(SUITESPARSE_CONFIG_LIB
+ NAMES suitesparseconfig
+ PATHS ${SUITESPARSE_SEARCH_LIBS})
+IF (EXISTS ${SUITESPARSE_CONFIG_LIB})
+ MESSAGE("-- Found SuiteSparse_config library: ${SUITESPARSE_CONFIG_LIB}")
+ELSE (EXISTS ${SUITESPARSE_CONFIG_LIB})
+ MESSAGE("-- Did not find SuiteSparse_config library")
+ENDIF (EXISTS ${SUITESPARSE_CONFIG_LIB})
+
+FIND_PATH(SUITESPARSE_CONFIG_INCLUDE
+ NAMES SuiteSparse_config.h
+ PATHS ${SUITESPARSE_SEARCH_HEADERS})
+IF (EXISTS ${SUITESPARSE_CONFIG_INCLUDE})
+ MESSAGE("-- Found SuiteSparse_config header in: ${SUITESPARSE_CONFIG_INCLUDE}")
+ELSE (EXISTS ${SUITESPARSE_CONFIG_INCLUDE})
+ MESSAGE("-- Did not find SuiteSparse_config header")
+ENDIF (EXISTS ${SUITESPARSE_CONFIG_INCLUDE})
+
+IF (NOT EXISTS ${SUITESPARSE_CONFIG_LIB} OR NOT EXISTS ${SUITESPARSE_CONFIG_INCLUDE})
+ SET(SUITESPARSE_CONFIG_FOUND FALSE)
+ENDIF (NOT EXISTS ${SUITESPARSE_CONFIG_LIB} OR NOT EXISTS ${SUITESPARSE_CONFIG_INCLUDE})
+
+MESSAGE("-- Check for UFconfig (SuiteSparse v3)")
+SET(UFCONFIG_FOUND TRUE)
+
+FIND_PATH(UFCONFIG_INCLUDE
+ NAMES UFconfig.h
+ PATHS ${SUITESPARSE_SEARCH_HEADERS})
+IF (EXISTS ${UFCONFIG_INCLUDE})
+ MESSAGE("-- Found UFconfig header in: ${UFCONFIG_INCLUDE}")
+ELSE (EXISTS ${UFCONFIG_INCLUDE})
+ MESSAGE("-- Did not find UFconfig header")
+ SET(UFCONFIG_FOUND FALSE)
+ENDIF (EXISTS ${UFCONFIG_INCLUDE})
+
+MESSAGE("-- Check for METIS (optional)")
+FIND_LIBRARY(METIS_LIB NAMES metis PATHS ${SUITESPARSE_SEARCH_LIBS})
+
+IF (EXISTS ${METIS_LIB})
+ MESSAGE("-- Found METIS library: ${METIS_LIB}")
+ELSE (EXISTS ${METIS_LIB})
+ MESSAGE("-- Did not find METIS library")
+ENDIF (EXISTS ${METIS_LIB})
+
+SET(BLAS_AND_LAPACK_FOUND TRUE)
+IF (${APPLE})
+ # Mac OS X has LAPACK/BLAS bundled in a framework called
+ # "vecLib". Search for that instead of for the normal "lapack"
+ # library.
+ FIND_LIBRARY(LAPACK_LIB NAMES vecLib)
+ELSE (${APPLE})
+ FIND_LIBRARY(BLAS_LIB NAMES blas)
+ IF (EXISTS ${BLAS_LIB})
+ MESSAGE("-- Found BLAS library: ${BLAS_LIB}")
+ ELSE (EXISTS ${BLAS_LIB})
+ MESSAGE("-- Did not find BLAS library")
+ SET(BLAS_AND_LAPACK_FOUND FALSE)
+ ENDIF (EXISTS ${BLAS_LIB})
+ FIND_LIBRARY(LAPACK_LIB NAMES lapack)
+ENDIF (${APPLE})
+
+IF (EXISTS ${LAPACK_LIB})
+ MESSAGE("-- Found LAPACK library: ${LAPACK_LIB}")
+ELSE (EXISTS ${LAPACK_LIB})
+ SET(BLAS_AND_LAPACK_FOUND FALSE)
+ MESSAGE("-- Did not find LAPACK library")
+ENDIF (EXISTS ${LAPACK_LIB})
+
+SET(SUITESPARSE_FOUND
+ ${AMD_FOUND} AND
+ ${CAMD_FOUND} AND
+ ${COLAMD_FOUND} AND
+ ${CCOLAMD_FOUND} AND
+ ${CHOLMOD_FOUND} AND
+ (${SUITESPARSE_CONFIG_FOUND} OR ${UFCONFIG_FOUND}) AND
+ ${BLAS_AND_LAPACK_FOUND})
+
+# By default, if all of SuiteSparse's dependencies are found, Ceres is
+# built with SuiteSparse support. -DSUITESPARSE=ON/OFF can be used to
+# enable/disable SuiteSparse explicitly.
+IF (DEFINED SUITESPARSE)
+ IF (${SUITESPARSE})
+ IF (NOT ${SUITESPARSE_FOUND})
+ MESSAGE(FATAL_ERROR "One or more of SuiteSparse's dependencies was not found")
+ ENDIF (NOT ${SUITESPARSE_FOUND})
+ ELSE (${SUITESPARSE})
+ ADD_DEFINITIONS(-DCERES_NO_SUITESPARSE)
+ ENDIF (${SUITESPARSE})
+ELSE (DEFINED SUITESPARSE)
+ IF (${SUITESPARSE_FOUND})
+ MESSAGE("-- Found all SuiteSparse dependencies. Building with SuiteSparse")
+ SET(SUITESPARSE ON)
+ ELSE (${SUITESPARSE_FOUND})
+ MESSAGE("-- Did not find all SuiteSparse dependencies. Building without SuiteSparse")
+ SET(SUITESPARSE OFF)
+ ADD_DEFINITIONS(-DCERES_NO_SUITESPARSE)
+ ENDIF (${SUITESPARSE_FOUND})
+ENDIF (DEFINED SUITESPARSE)
+
+# By default, if all of CXSparse's dependencies are found, Ceres is
+# built with CXSparse support. -DCXSPARSE=ON/OFF can be used to
+# enable/disable CXSparse explicitly.
+MESSAGE("-- Check for CXSparse")
+SET(CXSPARSE_FOUND ON)
+
+FIND_LIBRARY(CXSPARSE_LIB NAMES cxsparse PATHS ${CXSPARSE_SEARCH_LIBS})
+IF (EXISTS ${CXSPARSE_LIB})
+ MESSAGE("-- Found CXSparse library in: ${CXSPARSE_LIB}")
+ELSE (EXISTS ${CXSPARSE_LIB})
+ MESSAGE("-- Did not find CXSparse header")
+ SET(CXSPARSE_FOUND FALSE)
+ENDIF (EXISTS ${CXSPARSE_LIB})
+
+FIND_PATH(CXSPARSE_INCLUDE NAMES cs.h PATHS ${CXSPARSE_SEARCH_HEADERS})
+IF (EXISTS ${CXSPARSE_INCLUDE})
+ MESSAGE("-- Found CXSparse header in: ${CXSPARSE_INCLUDE}")
+ELSE (EXISTS ${CXSPARSE_INCLUDE})
+ MESSAGE("-- Did not find CXSparse header")
+ SET(CXSPARSE_FOUND FALSE)
+ENDIF (EXISTS ${CXSPARSE_INCLUDE})
+
+IF (DEFINED CXSPARSE)
+ IF (${CXSPARSE})
+ IF (NOT ${CXSPARSE_FOUND})
+ MESSAGE(FATAL_ERROR "-- CXSparse not found.")
+ ENDIF (NOT ${CXSPARSE_FOUND})
+ ELSE (${CXSPARSE})
+ ADD_DEFINITIONS(-DCERES_NO_CXSPARSE)
+ ENDIF (${CXSPARSE})
+ELSE (DEFINED CXSPARSE)
+ IF (${CXSPARSE_FOUND})
+ MESSAGE("-- Building with CXSparse support.")
+ SET(CXSPARSE ON)
+ ELSE (${CXSPARSE_FOUND})
+ MESSAGE("-- Building without CXSparse.")
+ SET(CXSPARSE OFF)
+ ADD_DEFINITIONS(-DCERES_NO_CXSPARSE)
+ ENDIF (${CXSPARSE_FOUND})
+ENDIF (DEFINED CXSPARSE)
+
+# Google Flags
+OPTION(GFLAGS
+ "Enable Google Flags."
+ ON)
+
+IF (${GFLAGS})
+ MESSAGE("-- Check for Google Flags")
+ FIND_LIBRARY(GFLAGS_LIB NAMES gflags PATHS ${SEARCH_LIBS})
+ IF (NOT EXISTS ${GFLAGS_LIB})
+ MESSAGE(FATAL_ERROR
+ "Can't find Google Flags. Please specify: "
+ "-DGFLAGS_LIB=...")
+ ENDIF (NOT EXISTS ${GFLAGS_LIB})
+ MESSAGE("-- Found Google Flags library: ${GFLAGS_LIB}")
+ FIND_PATH(GFLAGS_INCLUDE NAMES gflags/gflags.h PATHS ${SEARCH_HEADERS})
+ IF (NOT EXISTS ${GFLAGS_INCLUDE})
+ MESSAGE(FATAL_ERROR
+ "Can't find Google Flags. Please specify: "
+ "-DGFLAGS_INCLUDE=...")
+ ENDIF (NOT EXISTS ${GFLAGS_INCLUDE})
+ MESSAGE("-- Found Google Flags header in: ${GFLAGS_INCLUDE}")
+ELSE (${GFLAGS})
+ MESSAGE("-- Google Flags disabled; no tests or tools will be built!")
+ ADD_DEFINITIONS(-DCERES_NO_GFLAGS)
+ENDIF (${GFLAGS})
+
+# Google Logging
+IF (NOT ${BUILD_ANDROID})
+ MESSAGE("-- Check for Google Log")
+ FIND_LIBRARY(GLOG_LIB NAMES glog PATHS ${SEARCH_LIBS})
+ IF (NOT EXISTS ${GLOG_LIB})
+ MESSAGE(FATAL_ERROR
+ "Can't find Google Log. Please specify: "
+ "-DGLOG_LIB=...")
+ ENDIF (NOT EXISTS ${GLOG_LIB})
+ MESSAGE("-- Found Google Log library: ${GLOG_LIB}")
+
+ FIND_PATH(GLOG_INCLUDE NAMES glog/logging.h PATHS ${SEARCH_HEADERS})
+ IF (NOT EXISTS ${GLOG_INCLUDE})
+ MESSAGE(FATAL_ERROR
+ "Can't find Google Log. Please specify: "
+ "-DGLOG_INCLUDE=...")
+ ENDIF (NOT EXISTS ${GLOG_INCLUDE})
+ MESSAGE("-- Found Google Log header in: ${GLOG_INCLUDE}")
+ELSE (NOT ${BUILD_ANDROID})
+ SET(GLOG_LIB miniglog)
+ MESSAGE("-- Using minimal Glog substitute for Android (library): ${GLOG_LIB}")
+ SET(GLOG_INCLUDE internal/ceres/miniglog)
+ MESSAGE("-- Using minimal Glog substitute for Android (include): ${GLOG_INCLUDE}")
+ENDIF (NOT ${BUILD_ANDROID})
+
+# Eigen
+MESSAGE("-- Check for Eigen 3.0")
+FIND_PATH(EIGEN_INCLUDE NAMES Eigen/Core PATHS ${EIGEN_SEARCH_HEADERS})
+IF (NOT EXISTS ${EIGEN_INCLUDE})
+ MESSAGE(FATAL_ERROR "Can't find Eigen. Try passing -DEIGEN_INCLUDE=...")
+ENDIF (NOT EXISTS ${EIGEN_INCLUDE})
+MESSAGE("-- Found Eigen 3.0: ${EIGEN_INCLUDE}")
+
+# Template specializations for the Schur complement based solvers. If
+# compile time, binary size or compiler performance is an issue, you
+# may consider disabling this.
+OPTION(SCHUR_SPECIALIZATIONS
+ "Enable fixed-size schur specializations."
+ ON)
+
+IF (NOT ${SCHUR_SPECIALIZATIONS})
+ ADD_DEFINITIONS(-DCERES_RESTRICT_SCHUR_SPECIALIZATION)
+ MESSAGE("-- Disabling Schur specializations (faster compiles)")
+ENDIF (NOT ${SCHUR_SPECIALIZATIONS})
+
+# Multithreading using OpenMP
+OPTION(OPENMP
+ "Enable threaded solving in Ceres (requires OpenMP)"
+ ON)
+
+IF (${OPENMP})
+ FIND_PACKAGE(OpenMP)
+ IF(${OPENMP_FOUND})
+ MESSAGE("-- Found OpenMP.")
+ SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+ ADD_DEFINITIONS(-DCERES_USE_OPENMP)
+ ELSE(${OPENMP_FOUND})
+ MESSAGE("-- Can't find OpenMP. Continuing without it.")
+ ENDIF(${OPENMP_FOUND})
+ENDIF (${OPENMP})
+
+# Protocol buffers
+OPTION(PROTOBUF
+ "Enable protocol buffers support."
+ ON)
+
+IF (${PROTOBUF})
+ FIND_PACKAGE(Protobuf)
+ IF (${PROTOBUF_FOUND})
+ INCLUDE_DIRECTORIES(${PROTOBUF_INCLUDE_DIRS})
+ INCLUDE_DIRECTORIES(${CMAKE_CURRENT_BINARY_DIR}/internal)
+ ELSE (${PROTOBUF_FOUND})
+ ADD_DEFINITIONS(-DCERES_NO_PROTOCOL_BUFFERS)
+ ENDIF (${PROTOBUF_FOUND})
+ELSE (${PROTOBUF})
+ ADD_DEFINITIONS(-DCERES_NO_PROTOCOL_BUFFERS)
+ENDIF (${PROTOBUF})
+
+
+# Use threads but not on Android, where there is no support for OpenMP yet.
+IF ("${UNIX}" AND NOT ${BUILD_ANDROID})
+ # At least on Linux, we need pthreads to be enabled for mutex to compile.
+ # This may not work on windows or android.
+ FIND_PACKAGE(Threads REQUIRED)
+ SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CMAKE_THREAD_LIBS_INIT}")
+ ADD_DEFINITIONS(-DCERES_HAVE_PTHREAD)
+ ADD_DEFINITIONS(-DCERES_HAVE_RWLOCK)
+ENDIF ("${UNIX}" AND NOT ${BUILD_ANDROID})
+
+# Disable threads in mutex.h. Someday, after there is OpenMP support in
+# Android, this can get removed. Also turn on a workaround for an NDK bug.
+IF (${BUILD_ANDROID})
+ ADD_DEFINITIONS(-DCERES_NO_THREADS)
+ ADD_DEFINITIONS(-DCERES_WORK_AROUND_ANDROID_NDK_COMPILER_BUG)
+ENDIF (${BUILD_ANDROID})
+
+OPTION(DISABLE_TR1
+ "Don't use TR1. This replaces some hash tables with sets. Slower."
+ OFF)
+
+IF (${DISABLE_TR1})
+ MESSAGE("-- Replacing unordered_map/set with map/set (warning: slower!)")
+ ADD_DEFINITIONS(-DCERES_NO_TR1)
+ELSE (${DISABLE_TR1})
+ MESSAGE("-- Using normal TR1 unordered_map/set")
+ # Use the std namespace for the hash<> and related templates. This may vary by
+ # system.
+ IF (MSVC)
+ # This is known to work with Visual Studio 2010 Express.
+ ADD_DEFINITIONS("\"-DCERES_HASH_NAMESPACE_START=namespace std {\"")
+ ADD_DEFINITIONS("\"-DCERES_HASH_NAMESPACE_END=}\"")
+ ELSE (MSVC)
+ # This is known to work with recent versions of Linux and Mac OS X.
+ ADD_DEFINITIONS("\"-DCERES_HASH_NAMESPACE_START=namespace std { namespace tr1 {\"")
+ ADD_DEFINITIONS("\"-DCERES_HASH_NAMESPACE_END=}}\"")
+ ENDIF (MSVC)
+ENDIF (${DISABLE_TR1})
+
+INCLUDE_DIRECTORIES(
+ include
+ internal
+ internal/ceres
+ ${GLOG_INCLUDE}
+ ${EIGEN_INCLUDE}
+ )
+
+FILE(GLOB CERES_HDRS ${CMAKE_SOURCE_DIR}/include/ceres/*.h)
+INSTALL(FILES ${CERES_HDRS} DESTINATION include/ceres)
+
+FILE(GLOB CERES_PUBLIC_INTERNAL_HDRS ${CMAKE_SOURCE_DIR}/include/ceres/internal/*.h)
+INSTALL(FILES ${CERES_PUBLIC_INTERNAL_HDRS} DESTINATION include/ceres/internal)
+
+IF (${SUITESPARSE})
+ INCLUDE_DIRECTORIES(${AMD_INCLUDE})
+ INCLUDE_DIRECTORIES(${CAMD_INCLUDE})
+ INCLUDE_DIRECTORIES(${COLAMD_INCLUDE})
+ INCLUDE_DIRECTORIES(${CCOLAMD_INCLUDE})
+ INCLUDE_DIRECTORIES(${CHOLMOD_INCLUDE})
+ IF (${SUITESPARSE_CONFIG_FOUND})
+ INCLUDE_DIRECTORIES(${SUITESPARSE_CONFIG_INCLUDE})
+ ENDIF (${SUITESPARSE_CONFIG_FOUND})
+ IF (${UFCONFIG_FOUND})
+ INCLUDE_DIRECTORIES(${UFCONFIG_INCLUDE})
+ ENDIF (${UFCONFIG_FOUND})
+ENDIF(${SUITESPARSE})
+
+IF (${CXSPARSE})
+ INCLUDE_DIRECTORIES(${CXSPARSE_INCLUDE})
+ENDIF(${CXSPARSE})
+
+IF (${GFLAGS})
+ INCLUDE_DIRECTORIES(${GFLAGS_INCLUDE})
+ENDIF (${GFLAGS})
+
+# Change the default build type from Debug to Release, while still
+# supporting overriding the build type.
+#
+# The CACHE STRING logic here and elsewhere is needed to force CMake
+# to pay attention to the value of these variables.
+IF (NOT CMAKE_BUILD_TYPE)
+ MESSAGE("-- No build type specified; defaulting to CMAKE_BUILD_TYPE=Release.")
+ SET(CMAKE_BUILD_TYPE Release CACHE STRING
+ "Choose the type of build, options are: None Debug Release RelWithDebInfo MinSizeRel."
+ FORCE)
+ELSE (NOT CMAKE_BUILD_TYPE)
+ IF (CMAKE_BUILD_TYPE STREQUAL "Debug")
+ MESSAGE("\n=================================================================================")
+ MESSAGE("\n-- Build type: Debug. Performance will be terrible!")
+ MESSAGE("-- Add -DCMAKE_BUILD_TYPE=Release to the CMake command line to get an optimized build.")
+ MESSAGE("\n=================================================================================")
+ ENDIF (CMAKE_BUILD_TYPE STREQUAL "Debug")
+ENDIF (NOT CMAKE_BUILD_TYPE)
+
+# Set the default Ceres flags to an empty string.
+SET (CERES_CXX_FLAGS)
+
+IF (CMAKE_BUILD_TYPE STREQUAL "Release")
+ IF (CMAKE_COMPILER_IS_GNUCXX)
+ IF (${BUILD_ANDROID})
+ # TODO(keir): Figure out what flags should go here to make an optimized
+ # native ARM binary for Android.
+ ELSE (${BUILD_ANDROID})
+ # Linux
+ IF (${CMAKE_SYSTEM_NAME} MATCHES "Linux")
+ SET (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -march=native -mtune=native")
+ ENDIF (${CMAKE_SYSTEM_NAME} MATCHES "Linux")
+ # Mac OS X
+ IF (${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
+ SET (CERES_CXX_FLAGS "${CERES_CXX_FLAGS} -fast -msse3")
+ ENDIF (${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
+ ENDIF (${BUILD_ANDROID})
+ ENDIF (CMAKE_COMPILER_IS_GNUCXX)
+ SET (CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} ${CERES_CXX_FLAGS}"
+ CACHE STRING "Release mode flags to the C++ Compiler" FORCE)
+ENDIF (CMAKE_BUILD_TYPE STREQUAL "Release")
+
+# After the tweaks for the compile settings, disable some warnings on MSVC.
+IF (MSVC)
+ # Disable signed/unsigned int conversion warnings.
+ ADD_DEFINITIONS("/wd4018")
+ # Disable warning about using struct/class for the same symobl.
+ ADD_DEFINITIONS("/wd4099")
+ # Disable warning about the insecurity of using "std::copy".
+ ADD_DEFINITIONS("/wd4996")
+ # Disable performance warning about int-to-bool conversion.
+ ADD_DEFINITIONS("/wd4800")
+ # Disable performance warning about fopen insecurity.
+ ADD_DEFINITIONS("/wd4996")
+ # Disable warning about int64 to int32 conversion. Disabling
+ # this warning may not be correct; needs investigation.
+ # TODO(keir): Investigate these warnings in more detail.
+ ADD_DEFINITIONS("/wd4244")
+ # It's not possible to use STL types in DLL interfaces in a portable and
+ # reliable way. However, that's what happens with Google Log and Google Flags
+ # on Windows. MSVC gets upset about this and throws warnings that we can't do
+ # much about. The real solution is to link static versions of Google Log and
+ # Google Test, but that seems tricky on Windows. So, disable the warning.
+ ADD_DEFINITIONS("/wd4251")
+
+ # Google Flags doesn't have their DLL import/export stuff set up correctly,
+ # which results in linker warnings. This is irrelevant for Ceres, so ignore
+ # the warnings.
+ SET(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /ignore:4049")
+ENDIF (MSVC)
+
+# GCC is not strict enough by default, so enable most of the warnings.
+IF ("${UNIX}")
+ SET(CMAKE_CXX_FLAGS
+ "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wno-unknown-pragmas -Wno-sign-compare -Wno-unused -Wno-unused-parameter")
+ENDIF ("${UNIX}")
+
+ADD_SUBDIRECTORY(internal/ceres)
+
+OPTION(BUILD_DOCUMENTATION
+ "Build User's Guide (pdf)"
+ OFF)
+
+IF (${BUILD_DOCUMENTATION})
+ MESSAGE("-- Documentation building is enabled")
+
+ # Generate the User's Guide (pdf).
+ # The corresponding target is UserGuide, but is included in ALL.
+ ADD_SUBDIRECTORY(docs)
+ENDIF (${BUILD_DOCUMENTATION})
+
+OPTION(BUILD_EXAMPLES "Build examples" ON)
+
+IF (${BUILD_EXAMPLES})
+ MESSAGE("-- Build the examples.")
+ ADD_SUBDIRECTORY(examples)
+ELSE (${BUILD_EXAMPLES})
+ MESSAGE("-- Do not build any example.")
+ENDIF (${BUILD_EXAMPLES})
+
+# Add an uninstall target to remove all installed files.
+CONFIGURE_FILE("${CMAKE_SOURCE_DIR}/cmake/uninstall.cmake.in"
+ "${CMAKE_BINARY_DIR}/cmake/uninstall.cmake"
+ IMMEDIATE @ONLY)
+
+ADD_CUSTOM_TARGET(uninstall
+ COMMAND ${CMAKE_COMMAND} -P ${CMAKE_BINARY_DIR}/cmake/uninstall.cmake)
diff --git a/CleanSpec.mk b/CleanSpec.mk
new file mode 100644
index 0000000..a9baf34
--- /dev/null
+++ b/CleanSpec.mk
@@ -0,0 +1,52 @@
+# Copyright (C) 2007 The Android Open Source Project
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+
+# If you don't need to do a full clean build but would like to touch
+# a file or delete some intermediate files, add a clean step to the end
+# of the list. These steps will only be run once, if they haven't been
+# run before.
+#
+# E.g.:
+# $(call add-clean-step, touch -c external/sqlite/sqlite3.h)
+# $(call add-clean-step, rm -rf $(PRODUCT_OUT)/obj/STATIC_LIBRARIES/libz_intermediates)
+#
+# Always use "touch -c" and "rm -f" or "rm -rf" to gracefully deal with
+# files that are missing or have been moved.
+#
+# Use $(PRODUCT_OUT) to get to the "out/target/product/blah/" directory.
+# Use $(OUT_DIR) to refer to the "out" directory.
+#
+# If you need to re-do something that's already mentioned, just copy
+# the command and add it to the bottom of the list. E.g., if a change
+# that you made last week required touching a file and a change you
+# made today requires touching the same file, just copy the old
+# touch step and add it to the end of the list.
+#
+# ************************************************
+# NEWER CLEAN STEPS MUST BE AT THE END OF THE LIST
+# ************************************************
+
+# For example:
+#$(call add-clean-step, rm -rf $(OUT_DIR)/target/common/obj/APPS/AndroidTests_intermediates)
+#$(call add-clean-step, rm -rf $(OUT_DIR)/target/common/obj/JAVA_LIBRARIES/core_intermediates)
+#$(call add-clean-step, find $(OUT_DIR) -type f -name "IGTalkSession*" -print0 | xargs -0 rm -f)
+#$(call add-clean-step, rm -rf $(PRODUCT_OUT)/data/*)
+
+# ************************************************
+# NEWER CLEAN STEPS MUST BE AT THE END OF THE LIST
+# ************************************************
+
+# This empty file is here solely for the purpose of optimizing the Android build
+# Please keep it there, and empty, thanks.
diff --git a/MODULE_LICENSE_BSD b/MODULE_LICENSE_BSD
new file mode 100644
index 0000000..e69de29
--- /dev/null
+++ b/MODULE_LICENSE_BSD
diff --git a/NOTICE b/NOTICE
new file mode 100644
index 0000000..2e3ead5
--- /dev/null
+++ b/NOTICE
@@ -0,0 +1,27 @@
+Ceres Solver - A fast non-linear least squares minimizer
+Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+http://code.google.com/p/ceres-solver/
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice,
+ this list of conditions and the following disclaimer.
+* Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+* Neither the name of Google Inc. nor the names of its contributors may be
+ used to endorse or promote products derived from this software without
+ specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
diff --git a/README b/README
new file mode 100644
index 0000000..14fd355
--- /dev/null
+++ b/README
@@ -0,0 +1,3 @@
+Ceres Solver - A non-linear least squares minimizer
+==================================================
+Please see ceres-solver.pdf in docs/ for a tutorial and reference.
diff --git a/VERSION b/VERSION
new file mode 100644
index 0000000..600e8db
--- /dev/null
+++ b/VERSION
@@ -0,0 +1,3 @@
+version 1.4.0
+abi_version 1.4.0
+commit 8af9ebf38c48429ad02ff03d87f6a1e85e9b00a5
diff --git a/android/build_android.sh b/android/build_android.sh
new file mode 100644
index 0000000..5cb4383
--- /dev/null
+++ b/android/build_android.sh
@@ -0,0 +1,155 @@
+#!/bin/sh
+#
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2012 Google Inc. All rights reserved.
+# http://code.google.com/p/ceres-solver/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+# used to endorse or promote products derived from this software without
+# specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: keir@google.com
+# settinger@google.com
+#
+# Ceres build script for Android. To build the ceres.so libraray for Android,
+# cd into an empty directory and run the script. Usage:
+#
+# build_android.sh \
+# <path to Android NDK> \
+# <path to Eigen> \
+# <path to Ceres source>
+#
+# make
+#
+# This script exists only to make it easier to get Ceres building on Android;
+# as one can see from the code below, it is only a matter of extracting a
+# standalone NDK toolchain from the NDK, and getting the right arguments to
+# CMake to get it to work.
+#
+# Android NDK version r5 or higher is required. Jellybean does not work out of
+# the box, since the android-cmake toolchain is not yet updated to for it.
+#
+# Note: You may wish to run 'ccmake .', the CMake curses GUI, in order to tweak
+# the build parameters that are set by default. There are a few settings to
+# consider changing:
+#
+# SCHUR_SPECIALIZATIONS:
+#
+# Consider if enabling the schur specializations is a big enough win for the
+# problem you are solving, since compiling the schur specializations
+# considerably increases the binary size. Disable them by running 'ccmake .',
+# finding the SCHUR_SPECIALIZATIONS variable, hitting enter (toggling to "off"),
+# pressing 'c' to generate, then 'g' to generate and exit, followed by 'make'.
+#
+# EXECUTABLE_OUTPUT_PATH
+# LIBRARY_OUTPUT_PATH
+# LIBRARY_OUTPUT_PATH_ROOT:
+#
+# In normal CMake builds, where you do an out of source build, the source
+# directory is untouched when building. However, by default the Android CMake
+# toolchain selects locations under your *source* tree for the final library
+# and binary destinations. For example, if your Ceres git tree is under
+# ceres-solver.git/ and the build directory you are using is
+# ceres-android-bin/, the resulting binaries will live in ceres-solver.git/
+# (but not the intermediate .o files!) By changing the variables
+# EXECUTABLE_OUTPUT_PATH, LIBRARY_OUTPUT_PATH, and LIBRARY_OUTPUT_PATH_ROOT to
+# something under e.g. ceres-android-bin/ then true out-of-ource builds work.
+
+if [ $# -ne 3 ] ; then
+ echo "usage: build_android.sh \\"
+ echo " <path to Android NDK> \\"
+ echo " <path to Eigen> \\"
+ echo " <path to Ceres source>"
+ exit 1
+fi
+
+if [ -f "CMakeLists.txt" ] ; then
+ echo "ERROR: Can't run from inside the source tree."
+ echo " Make a new directory that's not under"
+ echo " the main Ceres source tree."
+ exit 1
+fi
+
+# For some reason, using the NDK in-place doesn't work even though the
+# android-cmake toolchain appears to support it.
+#
+# TODO(keir): Figure out the issue with the stand-alone NDK and don't create
+# the extra stand-alone toolchain. Also test with other NDK versions and add
+# explicit checks to ensure a compatible version is used.
+ANDROID_NDK=$1
+MAKE_ANDROID_TOOLCHAIN=$ANDROID_NDK/build/tools/make-standalone-toolchain.sh
+if [ ! -f $MAKE_ANDROID_TOOLCHAIN ] ; then
+ echo "ERROR: First argument doesn't appear to be the NDK root; missing:"
+ echo " $MAKE_ANDROID_TOOLCHAIN"
+ exit 1
+fi
+
+EIGEN_DIR=$2
+if [ ! -f $EIGEN_DIR/eigen3.pc.in ] ; then
+ echo "ERROR: Second argument doesn't appear to be Eigen3; missing:"
+ echo " $EIGEN_DIR/eigen3.pc.in"
+ exit 1
+fi
+
+CERES_SOURCE_ROOT=$3
+if [ ! -f "$CERES_SOURCE_ROOT/internal/ceres/CMakeLists.txt" ] ; then
+ echo "ERROR: Third argument doesn't appear to be the Ceres source directory."
+ exit 1
+fi
+echo "Using Ceres source directory: $CERES_SOURCE_ROOT"
+
+# Make a standalone Android NDK toolchain if needed.
+export ANDROID_STANDALONE_TOOLCHAIN="`pwd`/toolchain"
+if [ ! -d "$ANDROID_STANDALONE_TOOLCHAIN" ] ; then
+ echo "Extracting the Android GCC standalone toolchain to:"
+ echo " $ANDROID_STANDALONE_TOOLCHAIN..."
+ $ANDROID_NDK/build/tools/make-standalone-toolchain.sh \
+ --platform=android-8 \
+ --install-dir=$ANDROID_STANDALONE_TOOLCHAIN
+else
+ echo "Found NDK standalone toolchain; skipping creation."
+fi
+
+# Get the Android CMake NDK toolchain file if needed.
+if [ ! -d "android-cmake" ] ; then
+ hg clone https://code.google.com/p/android-cmake/
+else
+ echo "Found Android-CMake toolchain; skipping download."
+fi
+
+ANDROID_CMAKE_TOOLCHAIN=android-cmake/toolchain/android.toolchain.cmake
+if [ ! -f $ANDROID_CMAKE_TOOLCHAIN ] ; then
+ echo "ERROR: It seems the toolchain file is missing:"
+ echo " $ANDROID_CMAKE_TOOLCHAIN"
+ exit 1
+fi
+
+cmake $CERES_SOURCE_ROOT \
+ -DCMAKE_TOOLCHAIN_FILE=$ANDROID_CMAKE_TOOLCHAIN \
+ -DCMAKE_BUILD_TYPE=Release \
+ -DEIGEN_INCLUDE=$EIGEN_DIR \
+ -DBUILD_ANDROID=ON \
+ -DSUITESPARSE=OFF \
+ -DGFLAGS=OFF \
+ -DCXSPARSE=OFF \
+ -DPROTOBUF=OFF
diff --git a/cmake/uninstall.cmake.in b/cmake/uninstall.cmake.in
new file mode 100644
index 0000000..66c57f6
--- /dev/null
+++ b/cmake/uninstall.cmake.in
@@ -0,0 +1,51 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2012 Google Inc. All rights reserved.
+# http://code.google.com/p/ceres-solver/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+# used to endorse or promote products derived from this software without
+# specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: arnaudgelas@gmail.com (Arnaud Gelas)
+
+IF (NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
+ MESSAGE(FATAL_ERROR
+ "Cannot find install manifest: \"@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt\"")
+ENDIF (NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
+
+FILE(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" files)
+STRING(REGEX REPLACE "\n" ";" files "${files}")
+LIST(REVERSE files)
+FOREACH (file ${files})
+ MESSAGE(STATUS "Uninstalling \"$ENV{DESTDIR}${file}\"")
+ IF (EXISTS "$ENV{DESTDIR}${file}")
+ EXECUTE_PROCESS(COMMAND @CMAKE_COMMAND@ -E remove "$ENV{DESTDIR}${file}"
+ OUTPUT_VARIABLE rm_out
+ RESULT_VARIABLE rm_retval)
+ IF (NOT ${rm_retval} EQUAL 0)
+ MESSAGE(FATAL_ERROR "Problem when removing \"$ENV{DESTDIR}${file}\"")
+ ENDIF (NOT ${rm_retval} EQUAL 0)
+ ELSE (EXISTS "$ENV{DESTDIR}${file}")
+ MESSAGE(STATUS "File \"$ENV{DESTDIR}${file}\" does not exist.")
+ ENDIF (EXISTS "$ENV{DESTDIR}${file}")
+ENDFOREACH(file)
diff --git a/data/2x2.foe b/data/2x2.foe
new file mode 100644
index 0000000..67b1384
--- /dev/null
+++ b/data/2x2.foe
@@ -0,0 +1,8 @@
+2 3
+0 1 0 1
+0 0 1 1
+0.586612685392731 1.157638405566669 0.846059486257292
+-0.0582774013402734 0.0339010363051084 -0.0501593018104054 0.0745568557931712
+0.0492112815304123 -0.0307820846538285 -0.123247230948424 0.104812330861557
+0.0562633568728865 0.0152832583489560 -0.0576215592718086 -0.0139673758425540
+
diff --git a/data/3x3.foe b/data/3x3.foe
new file mode 100644
index 0000000..e0d6104
--- /dev/null
+++ b/data/3x3.foe
@@ -0,0 +1,13 @@
+3 8
+0 1 2 0 1 2 0 1 2
+0 0 0 1 1 1 2 2 2
+1.201143e-01 7.520515e-02 9.078330e-02 1.280545e-01 6.276734e-02 1.201840e-01 1.092460e-01 1.217102e-01
+-1.06290 1.81622 -0.80592 0.27489 0.13790 -0.49836 0.76669 -1.95329 1.32468
+-1.39695 1.62887 -0.27482 1.46226 -2.21903 0.82016 -0.12290 0.67906 -0.57683
+0.89899 0.27696 0.04805 -0.07191 0.00777 -0.00488 -0.80267 -0.31249 -0.03957
+-0.86612 1.66525 -1.03168 1.87671 -3.28802 1.92990 -1.22515 2.01814 -1.08079
+-0.37343 -0.23977 0.56955 -0.41741 0.05711 0.42774 -0.14881 0.02528 0.10072
+0.62783 0.27746 0.44180 -1.22190 -0.27753 -1.23532 0.54919 0.15855 0.68658
+0.46483 -1.12896 0.57926 0.22646 -0.25658 0.18881 0.57866 -1.13277 0.48707
+0.86662 0.19780 -1.06759 -1.92170 -0.10882 2.02231 1.14262 -0.09817 -1.03353
+
diff --git a/data/5x5.foe b/data/5x5.foe
new file mode 100644
index 0000000..0106827
--- /dev/null
+++ b/data/5x5.foe
@@ -0,0 +1,32 @@
+5 24
+0 1 2 3 4 0 1 2 3 4 0 1 2 3 4 0 1 2 3 4 0 1 2 3 4
+0 0 0 0 0 1 1 1 1 1 2 2 2 2 2 3 3 3 3 3 4 4 4 4 4
+
+5.472286e-02 6.425581e-02 5.031088e-02 5.989018e-02 4.424956e-02 5.119065e-02 6.743059e-02 2.339211e-02 5.973362e-02 6.281576e-02 1.495131e-02 5.693016e-02 3.189429e-02 7.672358e-02 4.524088e-02 3.681065e-02 6.383650e-02 4.347603e-02 2.264134e-02 2.561474e-02 5.886950e-02 4.114462e-02 4.893348e-02 5.834900e-02
+
+ -0.31071 1.04120 -0.78749 -0.47895 0.56812 -0.02713 0.12199 -0.19871 0.01017 0.08976 -0.05437 0.19638 -0.11093 -0.02853 0.00427 -0.19578 0.29112 -0.05108 -0.08012 0.02944 -0.87865 1.54098 -0.60090 -0.14424 0.05388
+ 0.59362 0.07378 0.01163 0.11076 0.38838 -1.56819 -0.12448 -0.26775 -0.14495 -1.26480 1.69550 0.23647 0.50640 0.20682 1.71141 -0.93659 -0.27274 -0.40550 -0.30937 -1.27168 0.21164 0.09704 0.14615 0.14513 0.43322
+ 0.84855 -1.15931 -0.04677 1.55189 -1.20232 -0.84787 0.88787 0.05491 -0.59425 0.44273 0.10771 0.15608 -0.20982 -0.40088 0.46844 0.00920 -0.34651 0.07722 1.10449 -1.00405 -0.00980 0.27614 0.32393 -1.83075 1.34408
+ -1.03323 1.88111 -1.43100 0.78609 -0.25928 -0.03655 0.21945 -0.13154 -0.10918 0.11203 0.09740 -0.02567 -0.23481 0.18294 -0.07056 0.20877 -0.12025 -0.27859 0.34269 -0.10385 0.70720 -1.63594 1.39715 -0.56761 0.10165
+ 0.53443 -0.08024 -0.11745 -0.03402 0.25033 -0.96043 0.15798 0.15981 0.10961 -0.24634 0.77044 -0.18866 -0.27562 0.18315 0.07681 -0.74267 0.51002 0.40930 -0.00294 -1.63639 0.40120 -0.42511 -0.15842 -0.28824 1.59764
+ -0.88573 -0.33458 -0.01419 -0.01103 0.00077 0.47044 0.43260 0.04198 -0.00840 0.00150 0.57390 0.08128 0.04955 -0.00643 0.01470 0.50375 0.07196 0.02376 0.03349 0.03517 -0.67904 -0.28139 -0.05936 -0.03884 -0.02249
+ -0.01311 -0.01988 0.10721 -0.08376 0.01636 -0.32442 0.98192 -1.44473 1.21759 -0.47859 0.89529 -2.36566 3.17358 -2.70415 1.10629 -0.96782 2.47203 -3.22965 2.76881 -1.14343 0.42498 -1.09401 1.42223 -1.22142 0.50653
+ 0.21862 -0.20464 0.03462 -0.03753 0.01527 0.13402 -0.07069 -0.00552 -0.04434 -0.02653 0.15630 0.02185 0.04572 -0.11760 -0.06958 0.15633 -0.00898 0.00952 -0.06227 -0.12147 0.37032 0.05372 0.10450 -0.22764 -0.32445
+ -0.02092 -0.35567 0.54827 0.50360 -0.95729 0.42842 0.61450 -1.06896 -0.96641 1.79327 -1.49830 -0.13333 0.96113 0.66182 -1.14234 2.35571 -0.68686 -0.72675 -0.09191 0.23092 -1.29917 0.56449 0.33405 -0.11554 0.06663
+ -0.15212 -0.31661 -0.10629 -0.68078 1.64419 0.60883 0.48936 0.35629 0.85845 -2.71321 -1.02463 -0.40494 -0.33908 -0.03011 1.32162 0.87303 0.38931 0.15034 -0.46469 -0.16997 -0.30057 -0.21769 -0.03504 0.29551 -0.03051
+ -0.63745 1.09815 0.07905 -1.29684 0.78552 0.31671 -0.60369 -0.31422 1.37878 -0.84617 -0.08181 0.25602 0.09426 -0.69533 0.50771 -0.26215 0.08620 0.18111 0.24247 -0.35641 0.18171 0.29815 -0.90155 0.49852 -0.00995
+ -0.24394 0.32079 -0.18885 -0.43086 0.61484 0.95412 -1.08795 0.41381 1.25966 -1.62800 -1.63362 1.77016 -0.41047 -1.74982 2.02167 1.69856 -1.82451 0.27727 1.56121 -1.66173 -0.80206 0.85485 -0.10948 -0.64836 0.67266
+ 0.60487 -0.01646 0.13186 0.13391 0.66691 -0.16619 0.00981 0.02774 -0.14688 -0.23655 -0.03876 0.01428 -0.05848 0.00855 0.01915 0.28643 0.01215 0.00615 0.02837 -0.27025 -0.67548 -0.06341 -0.09492 -0.01467 -0.16753
+ 0.77534 -1.90839 2.47496 -2.26067 1.01011 -0.36223 0.89421 -1.24538 1.23108 -0.59609 -0.44538 1.04742 -1.25543 1.08209 -0.44929 -0.10218 0.51811 -0.92194 0.90930 -0.42024 0.18932 -0.73810 1.25011 -1.24150 0.56562
+ 0.93435 -0.03480 0.04710 -0.40291 -0.92490 -0.66962 0.13901 0.00497 0.31148 0.63533 0.30957 -0.23678 -0.07453 -0.24971 0.25021 0.68393 0.03453 -0.00104 -0.20619 -0.21134 -1.23377 0.08326 0.02804 0.53578 0.24696
+ -0.31333 -0.06452 -0.14492 0.32917 0.18505 0.37680 -0.05739 -0.20598 -0.39758 0.33795 0.15776 -0.10590 -0.08163 -0.26879 0.26603 0.13942 0.14388 0.15602 -0.85931 0.46755 -0.37693 0.14924 0.18844 1.29502 -1.31627
+ -0.57261 -0.15101 -0.03142 0.04828 -0.09470 1.30126 0.29676 0.02642 -0.10865 0.12241 -1.04666 -0.17702 0.10930 0.48806 0.79384 0.35790 0.00519 -0.09722 -0.76968 -1.93132 -0.05982 0.03488 -0.03692 0.34823 1.14489
+ 0.02861 -0.04563 -0.39979 -0.34141 0.84996 -0.11996 0.09395 0.10138 0.81867 -0.96541 0.17159 -0.18584 0.25071 -0.22578 -0.06749 1.50317 -1.28229 -0.16426 -0.02308 0.15558 -1.66312 1.45438 0.22480 -0.25807 0.09117
+ -0.55490 0.19579 0.22691 0.60510 -0.46819 0.06905 -0.09310 -0.00511 -0.26410 0.29786 -0.15810 0.19022 0.02614 -0.00490 -0.06838 0.11087 -0.14454 -0.04154 -0.16050 0.23955 -0.60009 0.80946 0.13003 0.34930 -0.69227
+ 0.02280 0.50837 0.09286 -0.70868 0.16414 -0.80301 0.17835 0.36944 0.75854 -0.61169 0.44842 -0.99949 0.04847 0.08457 0.35292 0.60861 -0.02401 -0.48740 0.41152 -0.41065 -0.34356 0.41056 -0.01730 -0.58536 0.53149
+ 1.54887 -0.44899 -0.27397 -0.36683 -0.36138 -1.38762 0.36466 0.10235 0.35630 0.40105 -0.17410 -0.05898 0.13052 -0.04032 0.38137 -0.82904 0.31802 -0.02420 -0.20938 0.57263 0.95569 -0.26814 0.08144 0.25318 -1.02387
+ 0.26344 -0.49099 0.61113 -1.33142 0.89974 0.05990 -0.07519 0.14265 -0.33453 0.30248 0.08324 -0.12872 0.07988 -0.24786 0.14599 0.17826 -0.18072 0.08816 -0.10930 0.12304 0.45104 -0.70917 0.41756 -0.41199 0.18098
+ -0.46895 0.79795 -0.38564 0.04986 -0.04034 0.11811 -0.23006 0.26011 -0.13551 0.03185 -0.01839 -0.09632 0.18000 -0.13208 0.03061 0.11165 -0.25590 0.42916 -0.49657 0.24341 0.51922 -1.52509 2.17579 -1.86952 0.70906
+ -1.59203 1.37214 -0.36807 0.42638 -0.00689 2.86095 -2.02733 0.40858 -0.61961 -0.28165 -1.77476 0.55742 -0.12732 0.31007 0.76569 0.19805 0.83530 -0.18053 0.29590 -1.07493 0.27739 -0.69004 0.21195 -0.37112 0.59251
+
+
diff --git a/data/README.foe b/data/README.foe
new file mode 100644
index 0000000..9d5077c
--- /dev/null
+++ b/data/README.foe
@@ -0,0 +1,14 @@
+The *.foe files contain coefficients provided by Stefan Roth, who agreed to
+release them under a BSD license. See his home page:
+
+ http://www.gris.informatik.tu-darmstadt.de/~sroth/research/foe/index.html
+
+The coefficients in the *.foe files have been obtained by extracting the
+matrices from the MATLAB files and performing matrix multiplication.
+
+The format of the files is ASCII:
+ <s = filter size> <K = number of filters>
+ <alpha_1> ... <alpha_K>
+ <f_1,1> ... <f_1,s^2>
+ ...
+ <f_K,1> ... <f_K,s^2>
diff --git a/data/ceres_noisy.pgm b/data/ceres_noisy.pgm
new file mode 100644
index 0000000..1669988
--- /dev/null
+++ b/data/ceres_noisy.pgm
@@ -0,0 +1,6 @@
+P2
+# PGM format
+ # <width> <height> <levels>
+ # <data> ...
+177 213 255
+86 74 90 29 80 63 76 62 83 97 64 102 86 67 103 61 27 57 63 58 60 97 84 73 110 81 85 71 52 17 106 71 95 104 103 62 88 84 91 82 70 89 109 32 70 54 88 68 81 62 95 76 92 97 91 42 86 35 50 50 37 89 36 43 48 77 50 63 66 72 47 27 54 8 48 43 102 43 0 40 0 61 31 54 50 34 58 4 44 24 35 33 34 47 46 20 40 24 0 47 16 21 55 26 54 25 22 22 35 0 37 64 35 48 40 1 27 3 43 45 32 74 34 44 17 13 33 45 10 52 32 76 79 70 47 27 74 44 30 86 7 49 66 87 51 71 81 59 72 60 49 62 45 41 53 101 58 54 49 84 58 62 69 98 84 63 102 123 72 101 90 106 80 86 73 78 74 90 61 89 47 109 63 82 53 102 68 56 40 62 51 85 71 41 47 59 91 43 85 60 75 67 59 96 45 66 58 85 71 78 77 65 104 51 66 59 112 62 66 47 78 74 121 65 141 30 70 44 127 72 86 49 48 61 83 84 43 86 47 79 75 68 65 35 10 33 60 15 67 87 45 27 57 40 51 57 44 16 30 60 16 53 42 21 54 33 50 14 39 50 25 39 17 37 70 70 32 32 17 57 21 43 49 28 63 54 81 34 47 106 16 29 26 38 77 49 41 51 35 1 31 41 40 47 71 40 32 59 37 57 44 53 57 14 33 47 56 80 0 44 73 37 40 61 72 109 38 34 92 53 39 48 88 91 48 69 112 48 25 83 39 75 88 58 59 31 79 79 104 83 96 69 84 58 46 85 50 94 70 65 82 62 65 62 80 49 17 66 73 40 53 81 96 68 99 60 79 95 116 99 40 67 121 91 65 80 73 50 53 53 71 95 77 77 64 82 47 63 76 75 34 69 84 115 63 61 21 48 51 95 85 82 62 64 64 62 77 100 70 48 75 59 56 44 55 68 70 87 52 72 46 65 52 56 88 52 71 42 66 50 18 35 61 23 21 0 74 47 37 22 33 37 42 27 63 74 35 37 4 0 23 62 37 45 45 48 47 35 59 46 54 81 50 41 47 34 66 82 112 37 33 49 68 32 69 78 37 49 28 89 61 29 30 0 55 48 79 37 31 71 68 61 38 99 87 68 75 50 33 36 99 48 71 55 74 53 73 46 76 69 58 78 79 106 100 105 90 95 81 82 70 101 70 84 83 54 55 59 97 70 77 69 65 106 83 80 66 66 75 102 67 41 33 88 65 88 71 75 49 29 59 58 34 84 95 61 48 67 97 101 82 72 81 100 80 59 70 35 70 99 51 70 79 71 69 88 95 53 48 85 51 100 56 78 82 85 60 54 20 80 54 74 51 76 31 40 72 48 85 75 15 60 55 53 45 14 35 53 32 76 45 36 41 58 75 52 59 38 64 35 60 35 45 30 58 57 66 15 43 68 40 26 66 37 35 36 69 59 32 33 33 36 46 40 27 63 65 44 75 64 68 69 66 55 51 78 62 61 43 46 42 70 13 35 15 66 62 47 52 41 58 66 6 93 86 80 84 73 72 82 97 101 83 100 100 76 63 80 100 95 61 53 107 93 83 103 94 70 50 113 95 99 77 98 69 56 75 48 125 82 30 66 51 74 50 113 69 79 76 62 75 124 54 73 68 74 51 80 51 56 51 60 65 88 83 83 90 76 66 82 71 86 45 92 83 64 97 53 99 80 75 89 88 87 54 57 68 59 62 63 57 67 39 92 50 45 55 55 22 93 54 52 50 0 62 48 36 44 34 19 49 26 39 72 39 48 76 85 35 53 27 52 66 42 93 30 83 69 92 57 50 73 44 46 44 43 60 59 14 32 17 13 55 26 38 14 18 64 44 27 54 46 58 82 29 61 53 79 62 58 38 87 28 64 60 62 54 44 54 53 66 53 73 74 80 84 73 82 81 83 88 95 90 85 80 52 112 103 103 94 97 101 57 63 97 94 73 133 85 111 105 35 127 85 101 83 66 82 56 53 88 46 57 88 79 76 133 63 59 64 49 91 57 53 68 93 100 87 65 78 97 91 101 73 38 93 84 50 59 52 75 51 116 77 57 61 99 73 72 83 92 81 107 106 63 69 37 56 114 71 69 86 60 97 31 50 33 83 75 69 88 64 69 75 28 56 56 36 78 41 52 49 58 59 83 66 69 68 49 58 66 51 54 79 34 72 44 74 86 61 53 23 44 24 27 38 84 28 77 55 76 42 33 77 44 44 46 39 76 33 48 41 52 84 29 52 84 66 59 22 47 52 55 43 73 62 74 45 62 80 74 60 74 28 14 47 43 48 71 91 73 84 53 99 95 73 61 92 83 88 62 99 48 59 84 70 79 106 62 46 75 77 78 46 44 51 51 88 96 81 84 99 83 84 81 104 68 79 71 59 89 93 85 82 80 111 63 77 89 63 85 80 102 83 112 64 63 72 55 117 104 98 71 119 73 97 128 73 113 86 100 67 121 92 93 77 58 63 96 87 58 81 65 33 84 77 86 73 55 75 50 72 108 103 51 38 59 55 20 51 68 74 48 32 35 72 60 64 49 57 90 52 76 84 82 15 90 53 89 70 70 92 88 62 77 30 59 63 89 95 62 90 59 95 41 65 81 79 83 81 30 59 89 31 62 37 56 53 79 35 92 55 72 71 53 70 22 67 36 53 57 13 64 64 93 42 31 41 106 64 48 113 64 41 54 69 63 46 62 73 60 67 90 99 96 91 57 35 38 94 103 79 66 61 104 63 87 89 104 74 87 103 88 80 88 118 76 114 103 115 58 89 61 66 18 94 101 83 50 77 58 59 135 94 39 99 119 138 94 96 56 89 84 76 97 77 73 87 87 42 83 71 119 44 45 55 82 78 86 105 72 96 75 84 82 62 105 58 46 79 80 77 67 68 46 56 24 48 65 71 70 56 37 62 104 66 41 83 92 62 72 43 107 46 44 58 62 3 39 73 69 48 24 67 102 102 45 31 75 46 102 94 45 10 92 81 58 61 61 79 66 64 59 83 82 97 79 60 47 64 76 64 72 70 100 41 56 67 38 31 81 84 84 74 69 61 95 49 85 37 42 65 84 82 29 81 90 60 74 86 65 66 30 48 46 108 74 67 48 75 97 92 105 87 80 79 134 117 119 62 45 90 132 66 125 90 87 91 95 62 110 67 98 74 114 86 99 89 96 84 95 64 94 66 120 84 64 74 115 93 74 68 54 95 60 81 86 113 46 92 89 92 101 67 66 60 51 99 93 51 69 60 78 78 93 89 56 41 68 74 47 123 62 102 81 37 51 72 90 83 56 60 54 93 78 94 66 92 89 78 37 41 25 50 45 53 56 50 65 36 81 71 61 77 71 62 45 42 92 77 64 69 44 34 62 32 4 38 91 73 74 53 74 81 32 50 81 50 36 45 22 52 69 56 57 60 100 70 59 61 63 75 52 71 84 78 72 107 79 26 68 105 26 76 86 76 70 92 83 47 80 32 47 63 46 69 61 26 87 28 51 44 54 44 47 60 58 51 114 79 64 95 87 63 100 90 90 66 72 87 78 50 90 93 114 92 105 80 91 95 66 84 68 81 101 81 53 70 80 139 91 118 140 54 75 68 78 88 66 84 84 80 63 36 91 90 43 67 84 34 94 103 69 85 89 81 55 53 74 103 64 75 66 49 80 77 78 66 95 87 78 87 78 72 86 104 41 78 60 55 116 52 63 80 26 113 92 49 61 68 108 74 59 63 41 25 51 57 75 90 20 89 39 72 20 61 74 57 95 32 31 97 93 76 54 101 57 61 73 62 61 80 35 75 53 41 59 87 68 21 80 95 53 69 53 86 48 52 32 46 73 69 44 72 36 38 76 54 45 78 87 102 77 67 50 110 68 85 79 73 73 45 68 62 64 61 87 61 53 65 46 96 110 68 70 97 85 100 130 49 88 72 53 105 83 86 109 78 109 70 94 108 108 105 86 70 105 64 65 93 74 98 69 58 71 78 47 62 81 94 77 43 71 70 98 83 54 33 75 93 64 52 74 69 50 80 110 97 79 85 104 88 75 100 73 71 50 74 84 83 101 64 79 66 68 75 45 107 82 95 91 72 96 88 71 93 68 86 77 91 66 42 89 80 44 53 82 115 58 70 78 106 81 73 67 74 54 62 30 77 87 60 62 69 44 50 32 70 34 47 101 72 85 50 84 79 64 82 29 69 107 59 50 41 90 68 78 113 87 69 102 72 82 60 71 87 51 83 117 88 46 75 42 91 67 42 38 75 55 63 81 100 72 56 61 87 50 64 29 55 102 88 102 69 57 79 104 65 91 79 52 92 74 99 116 82 81 103 88 72 84 72 100 90 147 83 83 83 72 141 111 82 67 96 66 83 109 78 70 125 100 103 89 86 75 83 98 50 95 115 84 81 64 87 60 89 104 43 61 64 63 79 80 86 87 134 76 76 73 92 122 87 58 84 68 96 63 124 69 91 87 45 56 83 82 90 62 71 106 126 65 100 79 75 76 61 69 46 81 67 59 75 84 74 110 80 69 53 73 81 54 52 46 76 51 40 89 84 77 62 51 63 66 60 81 64 67 74 95 80 28 69 50 54 74 66 98 86 82 55 86 39 25 93 67 78 76 96 57 76 98 50 67 20 53 61 57 70 80 35 95 68 51 64 82 43 52 66 51 79 63 79 91 59 59 86 70 76 82 107 66 58 115 110 66 67 82 63 83 97 90 64 97 84 55 78 72 88 89 65 107 101 94 83 25 38 131 50 107 113 114 122 47 87 69 100 101 65 44 88 78 106 85 46 53 33 34 93 71 60 84 109 75 66 89 73 42 34 56 63 98 69 96 90 77 82 84 74 82 93 86 49 83 67 78 70 124 50 37 51 66 51 84 64 68 31 56 69 105 91 27 57 81 58 48 31 61 116 48 68 81 103 61 65 87 76 79 61 44 115 72 67 80 129 53 80 83 77 91 94 72 74 69 46 86 80 55 77 85 50 67 71 110 53 73 29 65 44 71 71 22 40 62 63 47 30 75 61 52 68 61 38 85 39 49 84 80 31 61 64 94 47 76 63 4 64 47 52 88 81 98 74 74 79 56 88 47 81 37 88 90 71 104 54 10 98 67 89 95 118 99 70 95 107 100 92 82 88 64 67 83 69 130 86 78 96 67 79 105 103 79 110 64 117 88 118 82 96 64 92 47 81 57 76 65 67 115 70 83 107 117 77 106 91 81 68 87 92 85 62 55 103 78 80 62 92 89 88 82 64 71 96 76 34 72 69 86 81 60 74 59 102 83 63 42 66 68 87 16 91 75 58 75 90 65 58 72 36 62 80 73 46 78 53 89 68 90 63 61 41 37 42 65 80 68 37 64 61 49 83 58 62 57 80 70 53 79 77 53 101 49 71 89 50 53 83 59 94 26 51 66 79 3 82 69 71 87 109 95 126 61 90 72 69 76 77 58 94 30 45 77 75 57 82 88 69 88 63 79 49 68 85 68 35 63 93 61 111 74 90 58 86 74 72 31 80 69 65 42 88 131 140 65 79 52 82 80 88 98 109 98 95 90 70 104 92 95 85 107 89 82 110 65 114 100 39 66 118 73 95 103 117 109 78 66 63 84 39 96 69 123 95 73 99 98 99 71 96 97 94 96 106 115 54 107 95 104 67 115 69 66 93 95 35 108 89 117 84 75 130 46 62 23 99 75 76 77 89 70 36 84 70 73 85 44 63 82 67 55 54 122 84 44 66 70 52 78 44 55 43 84 103 66 87 28 110 86 59 85 33 55 66 90 89 67 52 84 49 59 42 106 83 100 66 58 41 63 73 86 45 101 85 47 78 57 83 82 44 87 57 63 83 75 100 97 66 73 43 85 61 57 44 65 65 64 63 85 48 35 97 86 93 58 91 41 78 57 93 84 82 97 43 103 91 93 65 92 106 84 84 92 82 79 65 61 102 88 115 72 96 132 95 117 87 73 85 76 104 91 103 92 70 65 66 73 94 84 87 84 78 67 62 102 90 76 66 82 134 110 62 114 80 54 54 97 103 76 57 86 78 77 87 70 112 61 79 57 67 45 83 59 79 49 61 45 84 103 68 72 87 76 78 66 73 57 82 76 64 70 87 81 106 60 49 50 56 98 60 107 58 90 60 50 42 77 84 37 49 91 55 36 82 73 75 110 35 94 75 24 70 57 68 52 50 98 70 48 122 86 73 52 59 47 94 64 76 36 92 103 101 21 92 35 69 80 77 49 85 95 16 90 40 65 78 79 75 71 45 61 73 49 85 77 55 57 51 112 63 96 91 70 84 86 37 91 77 56 47 85 90 105 97 93 107 71 88 56 111 65 82 99 110 72 121 73 115 95 87 99 102 90 72 47 88 75 75 83 74 108 88 55 60 85 59 98 77 78 132 80 74 49 96 126 110 97 96 132 100 105 86 65 73 59 78 86 90 76 77 78 109 68 54 74 58 84 77 82 105 30 92 109 76 98 77 92 40 83 27 115 84 59 97 44 53 77 95 83 76 32 66 83 92 31 77 43 58 43 57 68 63 65 77 59 72 53 79 51 82 50 32 39 64 57 61 87 37 64 46 77 32 91 61 48 90 55 71 67 43 36 74 71 61 49 55 56 67 54 82 77 75 98 72 87 85 93 46 75 42 72 75 77 72 82 73 80 74 81 89 82 65 39 64 73 61 86 106 64 77 98 76 87 80 114 59 121 88 75 99 84 83 91 69 85 93 84 73 118 91 100 87 81 94 75 90 136 61 74 100 106 92 102 80 90 77 123 107 100 121 97 69 95 75 114 71 65 108 79 76 63 67 97 96 109 99 94 90 107 99 115 82 93 114 76 73 73 70 87 35 79 90 96 86 80 80 79 83 77 91 44 55 76 75 127 98 118 130 97 109 118 73 73 84 33 53 78 84 32 45 73 112 51 37 105 52 75 66 59 71 38 75 71 55 68 89 98 58 83 41 68 49 78 57 58 54 93 70 34 64 42 72 79 100 76 69 108 63 73 54 67 71 36 51 50 78 36 68 23 58 128 64 66 97 65 74 89 63 47 80 73 52 76 80 97 75 104 50 76 84 80 79 36 59 74 94 107 67 60 62 91 63 72 86 71 92 94 86 91 78 60 90 129 116 92 102 67 134 64 90 100 63 105 104 91 128 104 70 87 89 99 97 51 79 66 105 80 59 67 71 66 118 90 60 59 88 91 62 71 83 103 58 78 72 64 93 88 95 47 85 91 50 90 73 89 112 63 80 76 75 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108 96 57 90 97 71 44 71 68 46 66 70 58 62 51 117 109 72 63 7 57 43 110 61 123 113 99 95 83 203 173 161 109 117 84 117 127 131 112 118 75 103 95 75 70 56 53 0 35 69 36 51 48 49 52 75 38 66 54 23 58 90 63 104 82 28 66 40 74 88 40 35 60 71 68 91 109 94 91 104 110 75 15 97 70 92 90 28 99 101 64 66 80 54 101 90 91 72 114 139 143 152 142 108 132 132 127 101 99 88 84 94 105 75 89 93 118 73 73 95 97 77 108 75 70 128 86 47 51 61 0 9 67 64 32 68 64 67 52 48 29 89 93 37 93 47 81 95 96 97 55 90 80 95 102 123 77 124 105 93 126 121 103 86 79 93 97 127 93 115 92 74 99 117 102 75 74 82 79 84 108 77 46 94 33 97 59 82 68 45 93 129 120 97 64 12 30 43 69 53 83 90 72 68 72 155 174 181 162 90 82 100 98 137 138 98 79 90 66 62 10 29 35 13 11 15 31 47 33 66 74 12 53 58 71 19 52 29 35 55 77 78 46 41 42 90 39 37 41 9 36 55 58 69 61 121 118 111 82 92 21 48 122 62 95 66 114 75 84 83 88 85 116 81 104 75 102 131 161 161 106 133 75 129 110 108 86 119 90 73 86 88 85 77 126 116 95 90 72 91 90 40 106 80 72 62 91 61 38 26 68 68 34 60 73 44 75 27 33 43 54 85 48 69 80 80 90 61 81 77 121 123 86 91 88 75 114 108 115 75 91 101 103 49 79 130 58 54 73 90 83 58 71 58 60 62 84 71 27 41 42 54 56 32 40 62 64 136 80 106 82 93 20 29 39 38 66 58 60 56 62 91 84 112 85 90 92 20 53 59 50 78 27 72 54 22 22 21 67 21 25 0 48 3 33 47 17 58 27 26 43 57 48 25 25 25 67 29 86 46 70 33 60 50 36 65 49 35 3 5 38 85 118 119 81 91 110 59 78 82 66 97 57 80 88 55 71 118 108 105 65 44 89 144 158 165 178 94 131 100 83 119 76 111 96 105 114 83 80 88 118 89 94 81 111 64 84 93 43 90 55 81 13 86 62 78 32 34 62 38 61 58 51 28 67 35 70 62 68 31 32 83 90 87 65 96 74 106 84 32 70 86 55 88 50 91 88 47 87 76 50 45 42 73 102 64 67 58 36 15 63 43 56 44 18 31 48 28 52 52 59 72 65 80 63 81 101 60 48 88 45 57 66 92 40 23 78 60 30 98 112 114 84 38 36 87 53 74 84 50 39 14 28 41 36 44 29 40 51 34 55 71 45 45 40 59 52 87 1 58 50 59 50 40 83 38 49 64 31 50 47 43 23 0 40 60 48 48 39 36 108 88 121 81 112 76 62 87 109 76 55 117 48 81 78 86 97 44 78 80 141 147 140 123 92 97 105 108 78 95 33 82 92 89 41 96 103 69 89 78 62 101 62 101 68 59 65 91 48 119 115 41 52 79 102 39 37 59 19 18 26 48 84 61 56 44 69 70 58 66 54 82 84 26 80 68 83 87 93 97 60 46 77 74 22 39 42 44 51 1 69 80 56 62 44 27 48 14 51 50 73 39 44 74 84 47 54 33 75 64 55 122 75 61 85 18 30 83 83 89 61 25 23 86 44 77 100 117 56 57 88 67 47 39 58 68 36 9 57 10 46 40 43 25 50 22 16 34 17 84 31 45 58 11 41 36 70 27 62 54 11 43 46 18 51 15 54 16 60 57 33 76 56 39 65 43 58 28 64 81 40 41 106 69 64 34 47 65 112 93 103 100 71 94 58 140 76 124 137 182 120 157 127 140 82 59 94 85 106 88 100 76 100 110 52 98 86 47 62 60 62 90 85 124 92 54 51 33 76 63 25 25 68 62 87 83 86 36 57 56 76 40 46 99 38 72 88 55 59 84 79 52 73 53 78 63 57 72 67 44 40 58 17 55 18 64 35 61 55 32 71 31 55 18 34 74 15 57 8 30 49 63 49 41 59 22 91 81 86 84 66 95 72 61 110 87 42 47 68 80 53 111 95 84 66 62 84 0 55 42 41 15 29 15 28 41 0 10 17 56 69 23 0 32 27 39 27 25 63 35 66 73 44 33 68 78 61 54 16 15 20 30 74 37 74 70 25 44 34 51 65 38 72 54 44 11 47 44 78 43 21 45 0 25 78 66 64 69 71 54 81 53 77 83 97 141 114 122 121 107 112 102 49 97 121 72 129 58 83 85 118 67 76 89 97 95 97 57 77 33 76 90 57 92 39 46 48 18 75 33 29 30 61 80 61 36 34 69 12 85 50 21 56 52 34 59 76 54 58 85 76 66 38 51 48 65 26 94 81 57 49 48 27 74 76 17 66 49 0 23 60 52 34 57 53 53 51 96 31 52 68 6 73 89 126 100 88 95 45 52 89 58 69 86 66 82 96 100 73 8 16 83 65 65 65 62 42 26 32 24 39 31 22 18 34 49 50 59 18 18 40 52 0 62 24 36 11 40 34 6 21 39 35 56 23 67 55 31 42 73 44 81 76 84 84 7 52 25 17 36 64 66 75 67 64 38 62 83 52 24 36 68 67 51 86 48 38 106 98 48 72 92 159 120 136 90 153 85 122 62 57 80 104 52 59 69 83 64 117 97 66 54 86 111 69 25 87 80 122 48 67 55 65 40 40 45 52 63 55 26 28 33 65 56 72 45 22 56 22 35 41 70 57 60 74 46 12 79 78 53 68 107 93 53 49 86 26 43 49 57 60 40 33 16 53 57 39 27 49 57 42 40 27 53 64 69 53 45 53 106 118 139 101 101 82 48 75 31 73 74 81 80 67 88 6 41 111 61 94 82 65 39 20 37 21 2 30 56 17 47 24 47 35 30 57 15 52 1 13 72 47 46 23 37 21 9 45 31 84 55 76 42 65 53 75 87 83 66 65 76 59 6 38 49 39 96 15 43 32 54 51 56 51 82 52 36 69 53 43 43 89 28 56 90 95 69 67 96 134 109 131 141 112 106 110 95 82 93 83 96 84 78 93 102 82 76 91 85 65 64 49 65 70 87 71 62 54 73 96 49 7 44 49 38 42 78 53 71 57 59 75 36 20 17 77 78 60 65 40 40 63 30 52 64 55 43 63 54 60 104 36 40 46 59 90 50 39 83 32 65 41 27 74 88 49 42 36 62 61 89 39 17 63 74 50 77 118 95 75 85 95 45 50 29 100 56 60 84 43 53 32 47 67 17 65 87 59 51 15 47 55 22 41 55 76 25 9 19 51 24 19 26 42 21 46 0 22 40 49 52 23 17 28 37 81 27 25 33 72 73 102 95 89 58 51 89 41 56 25 50 50 1 47 55 49 66 23 42 64 47 36 37 48 51 60 47 57 61 103 103 81 46 38 70 104 103 139 106 120 112 97 97 123 97 68 72 51 70 86 122 132 108 131 60 74 67 96 39 62 62 47 61 95 66 84 67 50 27 46 87 29 32 28 39 49 33 53 72 98 19 32 50 18 80 64 67 63 50 62 81 77 56 75 35 48 36 78 19 89 55 63 72 54 68 62 36 67 65 46 19 31 34 20 68 75 41 64 48 41 51 60 49 49 84 64 93 86 54 61 74 49 14 71 68 1 32 43 18 19 18 65 26 35 38 7 14 36 29 34 48 35 27 0 0 57 42 18 18 14 25 29 0 18 42 13 42 61 16 41 61 0 12 41 47 100 77 87 51 66 74 79 77 41 58 97 27 56 73 41 31 63 84 33 59 25 45 41 25 23 90 50 28 63 57 62 56 36 84 62 106 59 69 138 93 88 137 160 172 143 107 95 93 26 81 86 89 95 63 109 71 68 94 68 102 84 57 25 53 62 135 127 78 43 40 65 96 61 59 27 24 31 54 73 51 22 37 78 27 36 91 24 63 99 68 72 60 44 57 48 69 47 60 50 71 52 7 55 35 72 41 34 40 28 45 58 39 35 51 39 48 70 66 67 49 53 57 27 102 39 46 25 26 54 59 60 36 33 14 40 29 49 46 42 0 4 52 0 0 3 0 26 51 14 43 22 37 20 17 63 46 22 12 49 33 32 51 33 43 52 47 43 9 11 12 24 13 9 16 44 20 5 27 33 53 28 39 53 51 43 51 28 38 29 37 30 21 44 24 19 18 8 0 58 0 0 25 39 26 46 13 70 73 83 64 54 0 51 53 53 137 107 156 139 102 152 100 118 74 63 45 44 39 69 71 69 89 126 72 95 99 127 56 83 62 30 29 133 62 99 83 66 61 30 71 37 48 66 49 34 24 51 34 71 24 43 65 40 50 85 76 42 58 61 93 42 107 71 45 45 51 44 71 61 55 68 68 54 92 42 90 51 53 33 101 54 63 38 46 32 62 44 55 41 35 89 42 49 25 28 72 10 53 55 37 34 45 24 7 32 41 33 23 0 13 19 35 44 75 41 64 50 64 43 39 62 38 44 52 35 17 17 63 70 19 62 18 55 63 43 20 23 33 14 25 0 38 5 21 10 25 56 52 29 0 41 35 41 31 27 21 16 14 9 25 0 14 23 7 4 0 0 0 17 0 10 44 16 35 30 33 13 43 14 7 0 84 132 170 149 141 145 53 116 50 85 94 76 120 81 51 65 53 106 122 58 58 94 116 54 66 90 49 93 88 74 80 77 72 83 69 65 33 53 95 65 63 48 36 65 30 30 77 41 65 55 86 63 62 57 56 54 50 64 25 31 7 64 30 50 25 42 38 50 45 72 53 37 69 65 65 62 66 50 52 89 44 99 69 71 39 55 17 53 37 23 4 69 58 10 36 70 34 41 38 42 18 60 10 82 6 35 51 56 43 11 31 60 57 107 39 58 30 0 36 51 46 42 41 21 14 57 0 43 7 23 29 19 30 27 13 0 33 8 59 29 30 22 9 1 3 25 20 21 41 41 14 34 34 0 27 17 0 0 20 5 16 29 13 12 0 0 0 31 14 33 39 40 25 0 15 20 24 105 131 108 105 109 88 106 157 104 57 107 85 85 73 44 86 80 83 88 139 33 64 77 104 105 80 56 92 67 49 99 44 63 54 66 73 59 71 32 67 68 50 28 31 59 12 43 48 29 67 69 78 52 68 27 52 45 36 67 44 49 16 60 50 77 52 53 57 79 43 65 39 66 39 42 52 58 48 40 34 55 59 15 35 78 40 57 36 54 45 34 34 31 46 63 60 67 52 42 27 48 63 80 56 55 29 40 33 45 1 63 109 32 38 14 55 50 45 39 28 55 34 54 51 26 39 11 68 70 21 67 30 20 22 30 20 19 25 0 0 6 0 24 0 0 5 2 0 21 13 27 37 46 4 30 19 0 0 0 15 0 56 0 0 47 21 11 0 6 8 14 4 2 38 43 41 0 4 98 167 112 98 117 139 140 99 94 114 74 96 76 67 102 65 93 104 110 33 52 84 102 81 57 86 32 111 132 93 124 59 93 71 38 71 41 62 27 17 66 49 61 24 74 64 0 51 65 21 46 56 14 47 60 16 64 52 33 47 62 32 76 51 91 76 54 42 35 78 21 68 49 60 27 54 37 56 23 33 34 44 30 80 62 47 7 2 27 15 56 49 50 67 79 25 25 40 57 67 26 63 40 48 51 17 44 46 45 14 32 41 17 43 35 3 47 23 38 13 67 0 28 33 51 36 59 54 55 73 23 46 18 19 3 13 3 28 19 42 48 25 0 5 14 0 22 0 0 45 2 1 31 24 27 12 3 11 0 0 0 20 5 17 23 44 19 43 0 17 6 47 27 4 0 24 20 149 116 126 141 123 100 95 120 67 83 98 74 81 81 77 88 52 120 48 74 78 90 107 65 75 86 62 143 115 80 67 99 60 68 21 43 7 25 16 37 74 36 59 16 91 48 34 18 67 37 38 50 60 78 74 63 2 27 19 68 43 55 3 30 58 101 41 39 21 50 51 34 91 71 34 27 22 39 42 11 31 21 26 6 29 52 79 58 99 43 38 34 56 42 55 34 70 52 58 38 46 51 16 63 8 62 46 44 0 57 65 23 62 28 15 35 44 58 7 109 47 99 65 27 78 31 64 31 45 69 29 0 31 26 0 34 3 0 44 1 6 2 12 0 30 4 10 40 19 44 18 0 8 13 18 22 12 14 0 30 20 16 4 13 29 0 31 33 41 51 39 32 10 16 15 66 64 134 166 128 119 106 115 102 92 93 102 55 83 75 76 96 44 47 81 52 72 56 46 104 105 89 89 44 115 74 104 91 55 34 68 26 68 51 64 8 45 117 59 81 31 9 84 56 48 44 64 38 27 37 40 55 54 21 58 44 21 53 64 74 62 81 10 90 48 77 53 52 45 40 35 29 57 26 70 23 58 40 15 74 59 31 53 26 19 6 13 60 34 27 58 59 7 41 33 0 57 42 60 54 49 38 63 27 29 16 62 18 21 28 21 44 45 32 19 48 7 52 5 48 76 0 50 31 28 56 31 41 37 16 0 16 23 7 35 39 0 27 11 0 27 32 20 42 14 37 0 47 20 1 36 42 49 22 29 42 0 30 16 48 13 40 16 0 27 27 36 49 9 0 23 11 23 3 118 141 125 131 74 95 85 120 101 110 60 78 47 64 54 38 56 75 71 64 73 52 83 33 131 35 53 69 95 86 58 64 85 46 27 58 32 72 32 14 47 14 58 54 66 35 79 29 55 46 21 33 36 34 3 31 35 26 33 55 74 31 34 87 70 55 41 71 96 67 5 42 54 54 53 1 84 36 6 50 0 48 23 63 24 26 37 74 20 55 9 44 41 42 16 16 52 23 6 46 66 53 32 61 29 22 37 23 56 27 48 26 35 13 20 16 35 66 43 97 46 45 43 27 10 26 61 62 34 0 0 53 30 33 13 26 17 0 38 13 4 21 43 22 25 22 0 31 31 11 40 27 28 30 2 22 16 3 0 47 10 7 51 49 34 0 20 34 49 14 0 0 28 4 63 62 2 165 108 96 135 115 121 108 78 93 92 68 100 96 59 75 52 33 63 54 54 44 82 74 59 89 83 81 36 120 70 89 46 82 62 21 43 41 33 16 84 3 61 17 43 36 47 92 79 60 35 22 28 30 27 0 8 0 26 16 36 26 78 43 20 55 69 23 6 42 77 82 54 59 40 15 41 51 55 49 2 11 83 38 42 10 47 20 55 50 56 55 74 27 50 65 29 48 95 1 38 9 67 4 41 48 33 48 42 28 23 66 20 27 24 68 40 43 26 33 31 53 26 26 25 47 41 7 0 25 67 23 6 18 31 24 7 25 0 13 42 28 22 33 24 46 33 16 27 0 28 60 0 55 0 49 8 17 15 60 46 25 38 0 19 42 16 0 8 26 0 25 21 84 42 0 29 36 124 159 167 124 97 103 93 61 85 59 94 78 73 95 50 55 59 46 65 86 89 60 82 99 127 52 79 57 99 76 82 74 18 90 56 57 53 30 41 70 38 38 84 49 33 63 37 40 28 60 37 16 24 0 44 13 72 67 0 0 41 21 13 37 15 82 12 38 71 54 62 31 75 45 65 55 21 10 42 29 35 40 42 76 12 48 39 13 33 59 14 50 47 36 29 21 24 10 50 20 26 38 22 52 24 18 31 4 10 20 33 46 32 85 22 47 19 14 32 10 11 5 29 43 35 34 47 14 26 33 37 13 0 42 32 30 26 27 28 0 26 36 18 0 30 21 32 0 60 23 0 21 0 20 17 7 30 20 34 28 74 29 8 39 35 11 14 24 55 0 45 57 17 0 48 19 59 123 140 127 84 104 105 108 118 78 108 74 70 60 82 69 71 69 92 79 38 109 54 88 100 125 83 73 57 103 94 49 85 81 48 28 44 0 52 0 63 43 45 35 54 29 46 51 50 36 0 44 63 0 0 6 29 37 19 46 51 15 1 43 0 59 10 57 23 24 46 44 55 61 76 32 24 20 61 31 42 79 6 45 66 22 54 50 40 65 15 9 16 22 46 37 15 53 5 27 18 24 43 35 22 5 10 9 13 46 6 37 36 30 25 22 0 22 0 40 36 3 41 34 49 10 62 91 25 43 5 36 3 22 13 12 27 37 36 33 7 4 21 29 28 0 13 0 6 36 40 2 32 7 16 20 34 0 15 0 5 10 1 27 60 13 0 45 23 11 18 0 40 63 25 12 43 5 111 133 95 97 119 92 126 76 89 71 36 38 14 28 71 19 44 76 106 78 73 112 114 92 75 97 72 68 65 102 100 156 37 82 35 68 10 58 26 47 80 33 8 75 55 53 75 65 49 22 36 40 29 0 43 32 19 71 9 26 43 48 35 47 51 41 66 34 0 5 82 38 51 73 75 41 29 40 41 69 31 53 54 14 43 30 9 0 17 33 42 0 15 21 7 22 49 22 21 39 35 22 33 36 14 39 30 33 9 22 10 24 42 10 41 54 0 43 8 18 54 35 39 27 2 66 59 24 10 53 25 20 0 46 53 15 2 36 14 18 13 38 1 63 28 51 10 14 28 23 36 16 33 9 16 23 23 0 41 17 18 29 21 0 12 12 42 51 0 27 32 31 19 19 57 51 43 99 118 134 117 121 100 106 83 81 65 85 96 59 86 69 57 44 43 66 79 45 107 102 64 60 111 86 75 46 94 81 80 80 30 47 32 34 37 23 35 21 48 82 53 73 46 43 37 56 17 66 40 35 39 44 42 0 30 15 16 3 35 44 58 33 7 36 37 37 36 35 32 50 46 59 1 19 12 26 17 52 25 56 3 22 11 25 7 46 17 48 34 29 0 59 36 0 16 14 64 39 23 58 64 34 6 19 24 45 25 1 14 0 27 0 17 2 11 60 6 27 29 11 13 22 49 20 51 2 29 37 43 13 16 28 62 29 16 0 25 38 33 10 32 10 43 40 19 46 13 3 2 2 41 17 20 0 15 13 0 40 22 29 47 41 18 27 2 39 5 7 28 39 32 11 61 32 104 109 80 120 111 67 90 99 97 67 108 96 81 22 55 63 39 89 90 94 48 78 85 80 72 86 96 62 57 80 119 67 91 67 69 78 41 47 45 16 16 54 0 11 34 33 53 63 56 19 74 53 19 6 6 78 32 19 39 27 58 46 19 36 36 40 45 6 42 11 24 57 39 14 34 0 16 0 1 45 9 47 28 4 32 3 27 15 10 23 13 40 46 74 28 27 5 0 38 11 6 13 25 21 0 20 26 48 26 19 15 19 0 38 29 49 12 12 34 1 29 24 54 40 0 61 43 2 22 31 41 40 25 4 20 0 61 3 32 10 42 33 2 0 0 0 42 45 10 2 11 6 28 12 25 9 39 32 0 0 48 0 34 16 8 92 7 32 42 13 43 26 17 75 66 92 55 118 102 90 86 131 87 134 127 52 89 112 105 79 78 37 59 30 89 51 57 98 50 111 84 65 78 73 50 75 68 75 76 68 63 34 51 42 28 29 24 66 21 45 2 10 15 62 41 77 34 31 31 55 47 23 12 21 0 55 56 28 54 70 14 8 19 11 10 40 21 0 51 26 29 11 54 49 30 25 8 6 0 26 26 17 0 10 31 59 4 47 51 7 7 32 17 0 22 5 16 33 27 65 27 17 0 0 27 21 0 20 15 41 0 62 7 12 34 58 22 27 43 12 33 46 52 24 22 10 60 56 17 26 3 37 29 13 8 0 15 12 21 27 34 24 0 19 27 33 30 32 0 22 0 20 36 16 0 0 36 23 0 6 7 16 51 63 33 38 25 0 8 19 4 0 41 45 116 127 137 117 92 109 137 95 82 91 64 74 100 51 56 75 49 106 70 48 94 55 79 96 36 70 80 74 74 0 83 107 113 60 75 72 4 19 45 24 32 33 9 42 79 17 40 71 42 26 102 52 70 33 42 42 28 24 20 59 0 16 55 35 0 0 0 14 14 38 6 6 2 2 20 13 28 2 13 28 27 0 23 19 46 37 48 40 12 34 9 29 24 0 46 0 41 43 5 10 5 28 16 0 25 35 19 38 23 62 3 60 7 46 37 64 11 0 0 0 13 43 67 45 17 50 64 0 35 15 16 12 41 31 0 13 0 0 22 0 22 7 22 60 41 22 31 0 21 0 32 48 0 12 40 18 32 28 2 35 26 43 0 41 10 1 0 37 0 25 29 15 43 38 52 42 83 130 102 111 89 137 103 74 109 85 45 69 99 89 65 55 78 72 70 110 80 115 95 115 96 81 76 94 87 54 36 92 114 73 102 50 2 75 17 3 23 50 47 57 45 23 3 27 92 62 94 57 50 3 63 33 21 38 54 57 33 39 17 27 68 15 12 40 28 0 6 22 12 40 37 50 39 0 1 23 42 56 60 5 31 35 18 36 20 36 6 23 27 9 22 4 46 48 8 43 13 0 10 0 0 26 43 18 52 30 25 17 56 54 22 0 48 20 25 43 58 47 27 30 36 26 10 77 20 64 19 31 7 37 7 26 29 0 43 20 0 13 28 36 43 54 33 35 36 0 26 16 35 39 23 8 31 39 12 59 57 22 9 23 0 26 61 27 43 20 23 4 62 17 47 27 42 43
\ No newline at end of file
diff --git a/data/nist/Bennett5.dat b/data/nist/Bennett5.dat
new file mode 100644
index 0000000..eba218a
--- /dev/null
+++ b/data/nist/Bennett5.dat
@@ -0,0 +1,214 @@
+NIST/ITL StRD
+Dataset Name: Bennett5 (Bennett5.dat)
+
+File Format: ASCII
+ Starting Values (lines 41 to 43)
+ Certified Values (lines 41 to 48)
+ Data (lines 61 to 214)
+
+Procedure: Nonlinear Least Squares Regression
+
+Description: These data are the result of a NIST study involving
+ superconductivity magnetization modeling. The
+ response variable is magnetism, and the predictor
+ variable is the log of time in minutes.
+
+Reference: Bennett, L., L. Swartzendruber, and H. Brown,
+ NIST (1994).
+ Superconductivity Magnetization Modeling.
+
+
+
+
+
+
+Data: 1 Response Variable (y = magnetism)
+ 1 Predictor Variable (x = log[time])
+ 154 Observations
+ Higher Level of Difficulty
+ Observed Data
+
+Model: Miscellaneous Class
+ 3 Parameters (b1 to b3)
+
+ y = b1 * (b2+x)**(-1/b3) + e
+
+
+
+ Starting values Certified Values
+
+ Start 1 Start 2 Parameter Standard Deviation
+ b1 = -2000 -1500 -2.5235058043E+03 2.9715175411E+02
+ b2 = 50 45 4.6736564644E+01 1.2448871856E+00
+ b3 = 0.8 0.85 9.3218483193E-01 2.0272299378E-02
+
+Residual Sum of Squares: 5.2404744073E-04
+Residual Standard Deviation: 1.8629312528E-03
+Degrees of Freedom: 151
+Number of Observations: 154
+
+
+
+
+
+
+
+
+
+
+
+Data: y x
+ -34.834702E0 7.447168E0
+ -34.393200E0 8.102586E0
+ -34.152901E0 8.452547E0
+ -33.979099E0 8.711278E0
+ -33.845901E0 8.916774E0
+ -33.732899E0 9.087155E0
+ -33.640301E0 9.232590E0
+ -33.559200E0 9.359535E0
+ -33.486801E0 9.472166E0
+ -33.423100E0 9.573384E0
+ -33.365101E0 9.665293E0
+ -33.313000E0 9.749461E0
+ -33.260899E0 9.827092E0
+ -33.217400E0 9.899128E0
+ -33.176899E0 9.966321E0
+ -33.139198E0 10.029280E0
+ -33.101601E0 10.088510E0
+ -33.066799E0 10.144430E0
+ -33.035000E0 10.197380E0
+ -33.003101E0 10.247670E0
+ -32.971298E0 10.295560E0
+ -32.942299E0 10.341250E0
+ -32.916302E0 10.384950E0
+ -32.890202E0 10.426820E0
+ -32.864101E0 10.467000E0
+ -32.841000E0 10.505640E0
+ -32.817799E0 10.542830E0
+ -32.797501E0 10.578690E0
+ -32.774300E0 10.613310E0
+ -32.757000E0 10.646780E0
+ -32.733799E0 10.679150E0
+ -32.716400E0 10.710520E0
+ -32.699100E0 10.740920E0
+ -32.678799E0 10.770440E0
+ -32.661400E0 10.799100E0
+ -32.644001E0 10.826970E0
+ -32.626701E0 10.854080E0
+ -32.612202E0 10.880470E0
+ -32.597698E0 10.906190E0
+ -32.583199E0 10.931260E0
+ -32.568699E0 10.955720E0
+ -32.554298E0 10.979590E0
+ -32.539799E0 11.002910E0
+ -32.525299E0 11.025700E0
+ -32.510799E0 11.047980E0
+ -32.499199E0 11.069770E0
+ -32.487598E0 11.091100E0
+ -32.473202E0 11.111980E0
+ -32.461601E0 11.132440E0
+ -32.435501E0 11.152480E0
+ -32.435501E0 11.172130E0
+ -32.426800E0 11.191410E0
+ -32.412300E0 11.210310E0
+ -32.400799E0 11.228870E0
+ -32.392101E0 11.247090E0
+ -32.380501E0 11.264980E0
+ -32.366001E0 11.282560E0
+ -32.357300E0 11.299840E0
+ -32.348598E0 11.316820E0
+ -32.339901E0 11.333520E0
+ -32.328400E0 11.349940E0
+ -32.319698E0 11.366100E0
+ -32.311001E0 11.382000E0
+ -32.299400E0 11.397660E0
+ -32.290699E0 11.413070E0
+ -32.282001E0 11.428240E0
+ -32.273300E0 11.443200E0
+ -32.264599E0 11.457930E0
+ -32.256001E0 11.472440E0
+ -32.247299E0 11.486750E0
+ -32.238602E0 11.500860E0
+ -32.229900E0 11.514770E0
+ -32.224098E0 11.528490E0
+ -32.215401E0 11.542020E0
+ -32.203800E0 11.555380E0
+ -32.198002E0 11.568550E0
+ -32.189400E0 11.581560E0
+ -32.183601E0 11.594420E0
+ -32.174900E0 11.607121E0
+ -32.169102E0 11.619640E0
+ -32.163300E0 11.632000E0
+ -32.154598E0 11.644210E0
+ -32.145901E0 11.656280E0
+ -32.140099E0 11.668200E0
+ -32.131401E0 11.679980E0
+ -32.125599E0 11.691620E0
+ -32.119801E0 11.703130E0
+ -32.111198E0 11.714510E0
+ -32.105400E0 11.725760E0
+ -32.096699E0 11.736880E0
+ -32.090900E0 11.747890E0
+ -32.088001E0 11.758780E0
+ -32.079300E0 11.769550E0
+ -32.073502E0 11.780200E0
+ -32.067699E0 11.790730E0
+ -32.061901E0 11.801160E0
+ -32.056099E0 11.811480E0
+ -32.050301E0 11.821700E0
+ -32.044498E0 11.831810E0
+ -32.038799E0 11.841820E0
+ -32.033001E0 11.851730E0
+ -32.027199E0 11.861550E0
+ -32.024300E0 11.871270E0
+ -32.018501E0 11.880890E0
+ -32.012699E0 11.890420E0
+ -32.004002E0 11.899870E0
+ -32.001099E0 11.909220E0
+ -31.995300E0 11.918490E0
+ -31.989500E0 11.927680E0
+ -31.983700E0 11.936780E0
+ -31.977900E0 11.945790E0
+ -31.972099E0 11.954730E0
+ -31.969299E0 11.963590E0
+ -31.963501E0 11.972370E0
+ -31.957701E0 11.981070E0
+ -31.951900E0 11.989700E0
+ -31.946100E0 11.998260E0
+ -31.940300E0 12.006740E0
+ -31.937401E0 12.015150E0
+ -31.931601E0 12.023490E0
+ -31.925800E0 12.031760E0
+ -31.922899E0 12.039970E0
+ -31.917101E0 12.048100E0
+ -31.911301E0 12.056170E0
+ -31.908400E0 12.064180E0
+ -31.902599E0 12.072120E0
+ -31.896900E0 12.080010E0
+ -31.893999E0 12.087820E0
+ -31.888201E0 12.095580E0
+ -31.885300E0 12.103280E0
+ -31.882401E0 12.110920E0
+ -31.876600E0 12.118500E0
+ -31.873699E0 12.126030E0
+ -31.867901E0 12.133500E0
+ -31.862101E0 12.140910E0
+ -31.859200E0 12.148270E0
+ -31.856300E0 12.155570E0
+ -31.850500E0 12.162830E0
+ -31.844700E0 12.170030E0
+ -31.841801E0 12.177170E0
+ -31.838900E0 12.184270E0
+ -31.833099E0 12.191320E0
+ -31.830200E0 12.198320E0
+ -31.827299E0 12.205270E0
+ -31.821600E0 12.212170E0
+ -31.818701E0 12.219030E0
+ -31.812901E0 12.225840E0
+ -31.809999E0 12.232600E0
+ -31.807100E0 12.239320E0
+ -31.801300E0 12.245990E0
+ -31.798401E0 12.252620E0
+ -31.795500E0 12.259200E0
+ -31.789700E0 12.265750E0
+ -31.786800E0 12.272240E0
diff --git a/data/nist/BoxBOD.dat b/data/nist/BoxBOD.dat
new file mode 100644
index 0000000..6a742fd
--- /dev/null
+++ b/data/nist/BoxBOD.dat
@@ -0,0 +1,66 @@
+NIST/ITL StRD
+Dataset Name: BoxBOD (BoxBOD.dat)
+
+File Format: ASCII
+ Starting Values (lines 41 to 42)
+ Certified Values (lines 41 to 47)
+ Data (lines 61 to 66)
+
+Procedure: Nonlinear Least Squares Regression
+
+Description: These data are described in detail in Box, Hunter and
+ Hunter (1978). The response variable is biochemical
+ oxygen demand (BOD) in mg/l, and the predictor
+ variable is incubation time in days.
+
+
+Reference: Box, G. P., W. G. Hunter, and J. S. Hunter (1978).
+ Statistics for Experimenters.
+ New York, NY: Wiley, pp. 483-487.
+
+
+
+
+
+Data: 1 Response (y = biochemical oxygen demand)
+ 1 Predictor (x = incubation time)
+ 6 Observations
+ Higher Level of Difficulty
+ Observed Data
+
+Model: Exponential Class
+ 2 Parameters (b1 and b2)
+
+ y = b1*(1-exp[-b2*x]) + e
+
+
+
+ Starting values Certified Values
+
+ Start 1 Start 2 Parameter Standard Deviation
+ b1 = 1 100 2.1380940889E+02 1.2354515176E+01
+ b2 = 1 0.75 5.4723748542E-01 1.0455993237E-01
+
+Residual Sum of Squares: 1.1680088766E+03
+Residual Standard Deviation: 1.7088072423E+01
+Degrees of Freedom: 4
+Number of Observations: 6
+
+
+
+
+
+
+
+
+
+
+
+
+Data: y x
+ 109 1
+ 149 2
+ 149 3
+ 191 5
+ 213 7
+ 224 10
diff --git a/data/nist/Chwirut1.dat b/data/nist/Chwirut1.dat
new file mode 100644
index 0000000..4ad8aa5
--- /dev/null
+++ b/data/nist/Chwirut1.dat
@@ -0,0 +1,274 @@
+NIST/ITL StRD
+Dataset Name: Chwirut1 (Chwirut1.dat)
+
+File Format: ASCII
+ Starting Values (lines 41 to 43)
+ Certified Values (lines 41 to 48)
+ Data (lines 61 to 274)
+
+Procedure: Nonlinear Least Squares Regression
+
+Description: These data are the result of a NIST study involving
+ ultrasonic calibration. The response variable is
+ ultrasonic response, and the predictor variable is
+ metal distance.
+
+Reference: Chwirut, D., NIST (197?).
+ Ultrasonic Reference Block Study.
+
+
+
+
+
+
+
+Data: 1 Response Variable (y = ultrasonic response)
+ 1 Predictor Variable (x = metal distance)
+ 214 Observations
+ Lower Level of Difficulty
+ Observed Data
+
+Model: Exponential Class
+ 3 Parameters (b1 to b3)
+
+ y = exp[-b1*x]/(b2+b3*x) + e
+
+
+
+ Starting values Certified Values
+
+ Start 1 Start 2 Parameter Standard Deviation
+ b1 = 0.1 0.15 1.9027818370E-01 2.1938557035E-02
+ b2 = 0.01 0.008 6.1314004477E-03 3.4500025051E-04
+ b3 = 0.02 0.010 1.0530908399E-02 7.9281847748E-04
+
+Residual Sum of Squares: 2.3844771393E+03
+Residual Standard Deviation: 3.3616721320E+00
+Degrees of Freedom: 211
+Number of Observations: 214
+
+
+
+
+
+
+
+
+
+
+
+Data: y x
+ 92.9000E0 0.5000E0
+ 78.7000E0 0.6250E0
+ 64.2000E0 0.7500E0
+ 64.9000E0 0.8750E0
+ 57.1000E0 1.0000E0
+ 43.3000E0 1.2500E0
+ 31.1000E0 1.7500E0
+ 23.6000E0 2.2500E0
+ 31.0500E0 1.7500E0
+ 23.7750E0 2.2500E0
+ 17.7375E0 2.7500E0
+ 13.8000E0 3.2500E0
+ 11.5875E0 3.7500E0
+ 9.4125E0 4.2500E0
+ 7.7250E0 4.7500E0
+ 7.3500E0 5.2500E0
+ 8.0250E0 5.7500E0
+ 90.6000E0 0.5000E0
+ 76.9000E0 0.6250E0
+ 71.6000E0 0.7500E0
+ 63.6000E0 0.8750E0
+ 54.0000E0 1.0000E0
+ 39.2000E0 1.2500E0
+ 29.3000E0 1.7500E0
+ 21.4000E0 2.2500E0
+ 29.1750E0 1.7500E0
+ 22.1250E0 2.2500E0
+ 17.5125E0 2.7500E0
+ 14.2500E0 3.2500E0
+ 9.4500E0 3.7500E0
+ 9.1500E0 4.2500E0
+ 7.9125E0 4.7500E0
+ 8.4750E0 5.2500E0
+ 6.1125E0 5.7500E0
+ 80.0000E0 0.5000E0
+ 79.0000E0 0.6250E0
+ 63.8000E0 0.7500E0
+ 57.2000E0 0.8750E0
+ 53.2000E0 1.0000E0
+ 42.5000E0 1.2500E0
+ 26.8000E0 1.7500E0
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+ 10.5375E0 3.7500E0
+ 8.5875E0 4.2500E0
+ 7.1250E0 4.7500E0
+ 6.1125E0 5.2500E0
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+ 50.3000E0 1.0000E0
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+ 13.1200E0 3.0000E0
+ 15.5600E0 3.0000E0
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+ 12.7500E0 3.0000E0
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+ 76.8000E0 .5000E0
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+ 59.2000E0 .7500E0
+ 40.8000E0 1.0000E0
+ 30.7000E0 1.5000E0
+ 25.7000E0 2.0000E0
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+ 25.9900E0 2.0000E0
+ 16.9500E0 2.5000E0
+ 13.3500E0 3.0000E0
+ 8.6200E0 4.0000E0
+ 7.2000E0 5.0000E0
+ 6.6400E0 6.0000E0
+ 13.6900E0 3.0000E0
+ 81.0000E0 .5000E0
+ 64.5000E0 .7500E0
+ 35.5000E0 1.5000E0
+ 13.3100E0 3.0000E0
+ 4.8700E0 6.0000E0
+ 12.9400E0 3.0000E0
+ 5.0600E0 6.0000E0
+ 15.1900E0 3.0000E0
+ 14.6200E0 3.0000E0
+ 15.6400E0 3.0000E0
+ 25.5000E0 1.7500E0
+ 25.9500E0 1.7500E0
+ 81.7000E0 .5000E0
+ 61.6000E0 .7500E0
+ 29.8000E0 1.7500E0
+ 29.8100E0 1.7500E0
+ 17.1700E0 2.7500E0
+ 10.3900E0 3.7500E0
+ 28.4000E0 1.7500E0
+ 28.6900E0 1.7500E0
+ 81.3000E0 .5000E0
+ 60.9000E0 .7500E0
+ 16.6500E0 2.7500E0
+ 10.0500E0 3.7500E0
+ 28.9000E0 1.7500E0
+ 28.9500E0 1.7500E0
diff --git a/data/nist/Chwirut2.dat b/data/nist/Chwirut2.dat
new file mode 100644
index 0000000..03703de
--- /dev/null
+++ b/data/nist/Chwirut2.dat
@@ -0,0 +1,114 @@
+NIST/ITL StRD
+Dataset Name: Chwirut2 (Chwirut2.dat)
+
+File Format: ASCII
+ Starting Values (lines 41 to 43)
+ Certified Values (lines 41 to 48)
+ Data (lines 61 to 114)
+
+Procedure: Nonlinear Least Squares Regression
+
+Description: These data are the result of a NIST study involving
+ ultrasonic calibration. The response variable is
+ ultrasonic response, and the predictor variable is
+ metal distance.
+
+
+
+Reference: Chwirut, D., NIST (197?).
+ Ultrasonic Reference Block Study.
+
+
+
+
+
+Data: 1 Response (y = ultrasonic response)
+ 1 Predictor (x = metal distance)
+ 54 Observations
+ Lower Level of Difficulty
+ Observed Data
+
+Model: Exponential Class
+ 3 Parameters (b1 to b3)
+
+ y = exp(-b1*x)/(b2+b3*x) + e
+
+
+
+ Starting values Certified Values
+
+ Start 1 Start 2 Parameter Standard Deviation
+ b1 = 0.1 0.15 1.6657666537E-01 3.8303286810E-02
+ b2 = 0.01 0.008 5.1653291286E-03 6.6621605126E-04
+ b3 = 0.02 0.010 1.2150007096E-02 1.5304234767E-03
+
+Residual Sum of Squares: 5.1304802941E+02
+Residual Standard Deviation: 3.1717133040E+00
+Degrees of Freedom: 51
+Number of Observations: 54
+
+
+
+
+
+
+
+
+
+
+
+Data: y x
+ 92.9000E0 0.500E0
+ 57.1000E0 1.000E0
+ 31.0500E0 1.750E0
+ 11.5875E0 3.750E0
+ 8.0250E0 5.750E0
+ 63.6000E0 0.875E0
+ 21.4000E0 2.250E0
+ 14.2500E0 3.250E0
+ 8.4750E0 5.250E0
+ 63.8000E0 0.750E0
+ 26.8000E0 1.750E0
+ 16.4625E0 2.750E0
+ 7.1250E0 4.750E0
+ 67.3000E0 0.625E0
+ 41.0000E0 1.250E0
+ 21.1500E0 2.250E0
+ 8.1750E0 4.250E0
+ 81.5000E0 .500E0
+ 13.1200E0 3.000E0
+ 59.9000E0 .750E0
+ 14.6200E0 3.000E0
+ 32.9000E0 1.500E0
+ 5.4400E0 6.000E0
+ 12.5600E0 3.000E0
+ 5.4400E0 6.000E0
+ 32.0000E0 1.500E0
+ 13.9500E0 3.000E0
+ 75.8000E0 .500E0
+ 20.0000E0 2.000E0
+ 10.4200E0 4.000E0
+ 59.5000E0 .750E0
+ 21.6700E0 2.000E0
+ 8.5500E0 5.000E0
+ 62.0000E0 .750E0
+ 20.2000E0 2.250E0
+ 7.7600E0 3.750E0
+ 3.7500E0 5.750E0
+ 11.8100E0 3.000E0
+ 54.7000E0 .750E0
+ 23.7000E0 2.500E0
+ 11.5500E0 4.000E0
+ 61.3000E0 .750E0
+ 17.7000E0 2.500E0
+ 8.7400E0 4.000E0
+ 59.2000E0 .750E0
+ 16.3000E0 2.500E0
+ 8.6200E0 4.000E0
+ 81.0000E0 .500E0
+ 4.8700E0 6.000E0
+ 14.6200E0 3.000E0
+ 81.7000E0 .500E0
+ 17.1700E0 2.750E0
+ 81.3000E0 .500E0
+ 28.9000E0 1.750E0
diff --git a/data/nist/DanWood.dat b/data/nist/DanWood.dat
new file mode 100644
index 0000000..479a9bd
--- /dev/null
+++ b/data/nist/DanWood.dat
@@ -0,0 +1,66 @@
+NIST/ITL StRD
+Dataset Name: DanWood (DanWood.dat)
+
+File Format: ASCII
+ Starting Values (lines 41 to 42)
+ Certified Values (lines 41 to 47)
+ Data (lines 61 to 66)
+
+Procedure: Nonlinear Least Squares Regression
+
+Description: These data and model are described in Daniel and Wood
+ (1980), and originally published in E.S.Keeping,
+ "Introduction to Statistical Inference," Van Nostrand
+ Company, Princeton, NJ, 1962, p. 354. The response
+ variable is energy radieted from a carbon filament
+ lamp per cm**2 per second, and the predictor variable
+ is the absolute temperature of the filament in 1000
+ degrees Kelvin.
+
+Reference: Daniel, C. and F. S. Wood (1980).
+ Fitting Equations to Data, Second Edition.
+ New York, NY: John Wiley and Sons, pp. 428-431.
+
+
+Data: 1 Response Variable (y = energy)
+ 1 Predictor Variable (x = temperature)
+ 6 Observations
+ Lower Level of Difficulty
+ Observed Data
+
+Model: Miscellaneous Class
+ 2 Parameters (b1 and b2)
+
+ y = b1*x**b2 + e
+
+
+
+ Starting values Certified Values
+
+ Start 1 Start 2 Parameter Standard Deviation
+ b1 = 1 0.7 7.6886226176E-01 1.8281973860E-02
+ b2 = 5 4 3.8604055871E+00 5.1726610913E-02
+
+Residual Sum of Squares: 4.3173084083E-03
+Residual Standard Deviation: 3.2853114039E-02
+Degrees of Freedom: 4
+Number of Observations: 6
+
+
+
+
+
+
+
+
+
+
+
+
+Data: y x
+ 2.138E0 1.309E0
+ 3.421E0 1.471E0
+ 3.597E0 1.490E0
+ 4.340E0 1.565E0
+ 4.882E0 1.611E0
+ 5.660E0 1.680E0
diff --git a/data/nist/ENSO.dat b/data/nist/ENSO.dat
new file mode 100644
index 0000000..f374db2
--- /dev/null
+++ b/data/nist/ENSO.dat
@@ -0,0 +1,228 @@
+NIST/ITL StRD
+Dataset Name: ENSO (ENSO.dat)
+
+File Format: ASCII
+ Starting Values (lines 41 to 49)
+ Certified Values (lines 41 to 54)
+ Data (lines 61 to 228)
+
+Procedure: Nonlinear Least Squares Regression
+
+Description: The data are monthly averaged atmospheric pressure
+ differences between Easter Island and Darwin,
+ Australia. This difference drives the trade winds in
+ the southern hemisphere. Fourier analysis of the data
+ reveals 3 significant cycles. The annual cycle is the
+ strongest, but cycles with periods of approximately 44
+ and 26 months are also present. These cycles
+ correspond to the El Nino and the Southern Oscillation.
+ Arguments to the SIN and COS functions are in radians.
+
+Reference: Kahaner, D., C. Moler, and S. Nash, (1989).
+ Numerical Methods and Software.
+ Englewood Cliffs, NJ: Prentice Hall, pp. 441-445.
+
+Data: 1 Response (y = atmospheric pressure)
+ 1 Predictor (x = time)
+ 168 Observations
+ Average Level of Difficulty
+ Observed Data
+
+Model: Miscellaneous Class
+ 9 Parameters (b1 to b9)
+
+ y = b1 + b2*cos( 2*pi*x/12 ) + b3*sin( 2*pi*x/12 )
+ + b5*cos( 2*pi*x/b4 ) + b6*sin( 2*pi*x/b4 )
+ + b8*cos( 2*pi*x/b7 ) + b9*sin( 2*pi*x/b7 ) + e
+
+ Starting values Certified Values
+
+ Start 1 Start 2 Parameter Standard Deviation
+ b1 = 11.0 10.0 1.0510749193E+01 1.7488832467E-01
+ b2 = 3.0 3.0 3.0762128085E+00 2.4310052139E-01
+ b3 = 0.5 0.5 5.3280138227E-01 2.4354686618E-01
+ b4 = 40.0 44.0 4.4311088700E+01 9.4408025976E-01
+ b5 = -0.7 -1.5 -1.6231428586E+00 2.8078369611E-01
+ b6 = -1.3 0.5 5.2554493756E-01 4.8073701119E-01
+ b7 = 25.0 26.0 2.6887614440E+01 4.1612939130E-01
+ b8 = -0.3 -0.1 2.1232288488E-01 5.1460022911E-01
+ b9 = 1.4 1.5 1.4966870418E+00 2.5434468893E-01
+
+Residual Sum of Squares: 7.8853978668E+02
+Residual Standard Deviation: 2.2269642403E+00
+Degrees of Freedom: 159
+Number of Observations: 168
+
+
+
+
+
+Data: y x
+ 12.90000 1.000000
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+ 4.600000 129.0000
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+ 16.50000 144.0000
+ 16.80000 145.0000
+ 17.10000 146.0000
+ 15.40000 147.0000
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+ 6.100000 149.0000
+ 10.100000 150.0000
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+ 12.80000 164.0000
+ 13.20000 165.0000
+ 14.00000 166.0000
+ 13.40000 167.0000
+ 14.80000 168.0000
diff --git a/data/nist/Eckerle4.dat b/data/nist/Eckerle4.dat
new file mode 100644
index 0000000..2d0d8bf
--- /dev/null
+++ b/data/nist/Eckerle4.dat
@@ -0,0 +1,95 @@
+NIST/ITL StRD
+Dataset Name: Eckerle4 (Eckerle4.dat)
+
+File Format: ASCII
+ Starting Values (lines 41 to 43)
+ Certified Values (lines 41 to 48)
+ Data (lines 61 to 95)
+
+Procedure: Nonlinear Least Squares Regression
+
+Description: These data are the result of a NIST study involving
+ circular interference transmittance. The response
+ variable is transmittance, and the predictor variable
+ is wavelength.
+
+
+Reference: Eckerle, K., NIST (197?).
+ Circular Interference Transmittance Study.
+
+
+
+
+
+
+Data: 1 Response Variable (y = transmittance)
+ 1 Predictor Variable (x = wavelength)
+ 35 Observations
+ Higher Level of Difficulty
+ Observed Data
+
+Model: Exponential Class
+ 3 Parameters (b1 to b3)
+
+ y = (b1/b2) * exp[-0.5*((x-b3)/b2)**2] + e
+
+
+
+ Starting values Certified Values
+
+ Start 1 Start 2 Parameter Standard Deviation
+ b1 = 1 1.5 1.5543827178E+00 1.5408051163E-02
+ b2 = 10 5 4.0888321754E+00 4.6803020753E-02
+ b3 = 500 450 4.5154121844E+02 4.6800518816E-02
+
+Residual Sum of Squares: 1.4635887487E-03
+Residual Standard Deviation: 6.7629245447E-03
+Degrees of Freedom: 32
+Number of Observations: 35
+
+
+
+
+
+
+
+
+
+
+
+Data: y x
+ 0.0001575E0 400.000000E0
+ 0.0001699E0 405.000000E0
+ 0.0002350E0 410.000000E0
+ 0.0003102E0 415.000000E0
+ 0.0004917E0 420.000000E0
+ 0.0008710E0 425.000000E0
+ 0.0017418E0 430.000000E0
+ 0.0046400E0 435.000000E0
+ 0.0065895E0 436.500000E0
+ 0.0097302E0 438.000000E0
+ 0.0149002E0 439.500000E0
+ 0.0237310E0 441.000000E0
+ 0.0401683E0 442.500000E0
+ 0.0712559E0 444.000000E0
+ 0.1264458E0 445.500000E0
+ 0.2073413E0 447.000000E0
+ 0.2902366E0 448.500000E0
+ 0.3445623E0 450.000000E0
+ 0.3698049E0 451.500000E0
+ 0.3668534E0 453.000000E0
+ 0.3106727E0 454.500000E0
+ 0.2078154E0 456.000000E0
+ 0.1164354E0 457.500000E0
+ 0.0616764E0 459.000000E0
+ 0.0337200E0 460.500000E0
+ 0.0194023E0 462.000000E0
+ 0.0117831E0 463.500000E0
+ 0.0074357E0 465.000000E0
+ 0.0022732E0 470.000000E0
+ 0.0008800E0 475.000000E0
+ 0.0004579E0 480.000000E0
+ 0.0002345E0 485.000000E0
+ 0.0001586E0 490.000000E0
+ 0.0001143E0 495.000000E0
+ 0.0000710E0 500.000000E0
diff --git a/data/nist/Gauss1.dat b/data/nist/Gauss1.dat
new file mode 100644
index 0000000..df8dfac
--- /dev/null
+++ b/data/nist/Gauss1.dat
@@ -0,0 +1,310 @@
+NIST/ITL StRD
+Dataset Name: Gauss1 (Gauss1.dat)
+
+File Format: ASCII
+ Starting Values (lines 41 to 48)
+ Certified Values (lines 41 to 53)
+ Data (lines 61 to 310)
+
+Procedure: Nonlinear Least Squares Regression
+
+Description: The data are two well-separated Gaussians on a
+ decaying exponential baseline plus normally
+ distributed zero-mean noise with variance = 6.25.
+
+Reference: Rust, B., NIST (1996).
+
+
+
+
+
+
+
+
+
+Data: 1 Response (y)
+ 1 Predictor (x)
+ 250 Observations
+ Lower Level of Difficulty
+ Generated Data
+
+Model: Exponential Class
+ 8 Parameters (b1 to b8)
+
+ y = b1*exp( -b2*x ) + b3*exp( -(x-b4)**2 / b5**2 )
+ + b6*exp( -(x-b7)**2 / b8**2 ) + e
+
+
+ Starting values Certified Values
+
+ Start 1 Start 2 Parameter Standard Deviation
+ b1 = 97.0 94.0 9.8778210871E+01 5.7527312730E-01
+ b2 = 0.009 0.0105 1.0497276517E-02 1.1406289017E-04
+ b3 = 100.0 99.0 1.0048990633E+02 5.8831775752E-01
+ b4 = 65.0 63.0 6.7481111276E+01 1.0460593412E-01
+ b5 = 20.0 25.0 2.3129773360E+01 1.7439951146E-01
+ b6 = 70.0 71.0 7.1994503004E+01 6.2622793913E-01
+ b7 = 178.0 180.0 1.7899805021E+02 1.2436988217E-01
+ b8 = 16.5 20.0 1.8389389025E+01 2.0134312832E-01
+
+Residual Sum of Squares: 1.3158222432E+03
+Residual Standard Deviation: 2.3317980180E+00
+Degrees of Freedom: 242
+Number of Observations: 250
+
+
+
+
+
+
+Data: y x
+ 97.62227 1.000000
+ 97.80724 2.000000
+ 96.62247 3.000000
+ 92.59022 4.000000
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diff --git a/data/nist/Gauss2.dat b/data/nist/Gauss2.dat
new file mode 100644
index 0000000..38222eb
--- /dev/null
+++ b/data/nist/Gauss2.dat
@@ -0,0 +1,310 @@
+NIST/ITL StRD
+Dataset Name: Gauss2 (Gauss2.dat)
+
+File Format: ASCII
+ Starting Values (lines 41 to 48)
+ Certified Values (lines 41 to 53)
+ Data (lines 61 to 310)
+
+Procedure: Nonlinear Least Squares Regression
+
+Description: The data are two slightly-blended Gaussians on a
+ decaying exponential baseline plus normally
+ distributed zero-mean noise with variance = 6.25.
+
+Reference: Rust, B., NIST (1996).
+
+
+
+
+
+
+
+
+
+Data: 1 Response (y)
+ 1 Predictor (x)
+ 250 Observations
+ Lower Level of Difficulty
+ Generated Data
+
+Model: Exponential Class
+ 8 Parameters (b1 to b8)
+
+ y = b1*exp( -b2*x ) + b3*exp( -(x-b4)**2 / b5**2 )
+ + b6*exp( -(x-b7)**2 / b8**2 ) + e
+
+
+ Starting values Certified Values
+
+ Start 1 Start 2 Parameter Standard Deviation
+ b1 = 96.0 98.0 9.9018328406E+01 5.3748766879E-01
+ b2 = 0.009 0.0105 1.0994945399E-02 1.3335306766E-04
+ b3 = 103.0 103.0 1.0188022528E+02 5.9217315772E-01
+ b4 = 106.0 105.0 1.0703095519E+02 1.5006798316E-01
+ b5 = 18.0 20.0 2.3578584029E+01 2.2695595067E-01
+ b6 = 72.0 73.0 7.2045589471E+01 6.1721965884E-01
+ b7 = 151.0 150.0 1.5327010194E+02 1.9466674341E-01
+ b8 = 18.0 20.0 1.9525972636E+01 2.6416549393E-01
+
+Residual Sum of Squares: 1.2475282092E+03
+Residual Standard Deviation: 2.2704790782E+00
+Degrees of Freedom: 242
+Number of Observations: 250
+
+
+
+
+
+
+Data: y x
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+ 97.76344 2.000000
+ 96.56705 3.000000
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diff --git a/data/nist/Gauss3.dat b/data/nist/Gauss3.dat
new file mode 100644
index 0000000..e5eb56d
--- /dev/null
+++ b/data/nist/Gauss3.dat
@@ -0,0 +1,310 @@
+NIST/ITL StRD
+Dataset Name: Gauss3 (Gauss3.dat)
+
+File Format: ASCII
+ Starting Values (lines 41 to 48)
+ Certified Values (lines 41 to 53)
+ Data (lines 61 to 310)
+
+Procedure: Nonlinear Least Squares Regression
+
+Description: The data are two strongly-blended Gaussians on a
+ decaying exponential baseline plus normally
+ distributed zero-mean noise with variance = 6.25.
+
+Reference: Rust, B., NIST (1996).
+
+
+
+
+
+
+
+
+
+Data: 1 Response (y)
+ 1 Predictor (x)
+ 250 Observations
+ Average Level of Difficulty
+ Generated Data
+
+Model: Exponential Class
+ 8 Parameters (b1 to b8)
+
+ y = b1*exp( -b2*x ) + b3*exp( -(x-b4)**2 / b5**2 )
+ + b6*exp( -(x-b7)**2 / b8**2 ) + e
+
+
+ Starting values Certified Values
+
+ Start 1 Start 2 Parameter Standard Deviation
+ b1 = 94.9 96.0 9.8940368970E+01 5.3005192833E-01
+ b2 = 0.009 0.0096 1.0945879335E-02 1.2554058911E-04
+ b3 = 90.1 80.0 1.0069553078E+02 8.1256587317E-01
+ b4 = 113.0 110.0 1.1163619459E+02 3.5317859757E-01
+ b5 = 20.0 25.0 2.3300500029E+01 3.6584783023E-01
+ b6 = 73.8 74.0 7.3705031418E+01 1.2091239082E+00
+ b7 = 140.0 139.0 1.4776164251E+02 4.0488183351E-01
+ b8 = 20.0 25.0 1.9668221230E+01 3.7806634336E-01
+
+Residual Sum of Squares: 1.2444846360E+03
+Residual Standard Deviation: 2.2677077625E+00
+Degrees of Freedom: 242
+Number of Observations: 250
+
+
+
+
+
+
+Data: y x
+ 97.58776 1.000000
+ 97.76344 2.000000
+ 96.56705 3.000000
+ 92.52037 4.000000
+ 91.15097 5.000000
+ 95.21728 6.000000
+ 90.21355 7.000000
+ 89.29235 8.000000
+ 91.51479 9.000000
+ 89.60965 10.000000
+ 86.56187 11.00000
+ 85.55315 12.00000
+ 87.13053 13.00000
+ 85.67938 14.00000
+ 80.04849 15.00000
+ 82.18922 16.00000
+ 87.24078 17.00000
+ 80.79401 18.00000
+ 81.28564 19.00000
+ 81.56932 20.00000
+ 79.22703 21.00000
+ 79.43259 22.00000
+ 77.90174 23.00000
+ 76.75438 24.00000
+ 77.17338 25.00000
+ 74.27296 26.00000
+ 73.11830 27.00000
+ 73.84732 28.00000
+ 72.47746 29.00000
+ 71.92128 30.00000
+ 66.91962 31.00000
+ 67.93554 32.00000
+ 69.55841 33.00000
+ 69.06592 34.00000
+ 66.53371 35.00000
+ 63.87094 36.00000
+ 69.70526 37.00000
+ 63.59295 38.00000
+ 63.35509 39.00000
+ 59.99747 40.00000
+ 62.64843 41.00000
+ 65.77345 42.00000
+ 59.10141 43.00000
+ 56.57750 44.00000
+ 61.15313 45.00000
+ 54.30767 46.00000
+ 62.83535 47.00000
+ 56.52957 48.00000
+ 56.98427 49.00000
+ 58.11459 50.00000
+ 58.69576 51.00000
+ 58.23322 52.00000
+ 54.90490 53.00000
+ 57.91442 54.00000
+ 56.96629 55.00000
+ 51.13831 56.00000
+ 49.27123 57.00000
+ 52.92668 58.00000
+ 54.47693 59.00000
+ 51.81710 60.00000
+ 51.05401 61.00000
+ 52.51731 62.00000
+ 51.83710 63.00000
+ 54.48196 64.00000
+ 49.05859 65.00000
+ 50.52315 66.00000
+ 50.32755 67.00000
+ 46.44419 68.00000
+ 50.89281 69.00000
+ 52.13203 70.00000
+ 49.78741 71.00000
+ 49.01637 72.00000
+ 54.18198 73.00000
+ 53.17456 74.00000
+ 53.20827 75.00000
+ 57.43459 76.00000
+ 51.95282 77.00000
+ 54.20282 78.00000
+ 57.46687 79.00000
+ 53.60268 80.00000
+ 58.86728 81.00000
+ 57.66652 82.00000
+ 63.71034 83.00000
+ 65.24244 84.00000
+ 65.10878 85.00000
+ 69.96313 86.00000
+ 68.85475 87.00000
+ 73.32574 88.00000
+ 76.21241 89.00000
+ 78.06311 90.00000
+ 75.37701 91.00000
+ 87.54449 92.00000
+ 89.50588 93.00000
+ 95.82098 94.00000
+ 97.48390 95.00000
+ 100.86070 96.00000
+ 102.48510 97.00000
+ 105.7311 98.00000
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+ 111.0305 100.00000
+ 110.1920 101.00000
+ 118.3581 102.00000
+ 118.8086 103.00000
+ 122.4249 104.00000
+ 124.0953 105.00000
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+ 127.8533 107.0000
+ 131.0361 108.0000
+ 133.3343 109.0000
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+ 131.9151 112.0000
+ 132.1107 113.0000
+ 127.6898 114.0000
+ 133.2148 115.0000
+ 128.2296 116.0000
+ 133.5902 117.0000
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+ 128.3482 119.0000
+ 124.8694 120.0000
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+ 114.7946 125.0000
+ 114.2780 126.0000
+ 120.3484 127.0000
+ 114.8647 128.0000
+ 111.6514 129.0000
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+ 108.4461 131.0000
+ 109.0571 132.0000
+ 106.5308 133.0000
+ 109.4691 134.0000
+ 106.8709 135.0000
+ 107.3192 136.0000
+ 106.9000 137.0000
+ 109.6526 138.0000
+ 107.1602 139.0000
+ 108.2509 140.0000
+ 104.96310 141.0000
+ 109.3601 142.0000
+ 107.6696 143.0000
+ 99.77286 144.0000
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+ 106.1376 146.0000
+ 106.5816 147.0000
+ 100.12860 148.0000
+ 101.66910 149.0000
+ 96.44254 150.0000
+ 97.34169 151.0000
+ 96.97412 152.0000
+ 90.73460 153.0000
+ 93.37949 154.0000
+ 82.12331 155.0000
+ 83.01657 156.0000
+ 78.87360 157.0000
+ 74.86971 158.0000
+ 72.79341 159.0000
+ 65.14744 160.0000
+ 67.02127 161.0000
+ 60.16136 162.0000
+ 57.13996 163.0000
+ 54.05769 164.0000
+ 50.42265 165.0000
+ 47.82430 166.0000
+ 42.85748 167.0000
+ 42.45495 168.0000
+ 38.30808 169.0000
+ 36.95794 170.0000
+ 33.94543 171.0000
+ 34.19017 172.0000
+ 31.66097 173.0000
+ 23.56172 174.0000
+ 29.61143 175.0000
+ 23.88765 176.0000
+ 22.49812 177.0000
+ 24.86901 178.0000
+ 17.29481 179.0000
+ 18.09291 180.0000
+ 15.34813 181.0000
+ 14.77997 182.0000
+ 13.87832 183.0000
+ 12.88891 184.0000
+ 16.20763 185.0000
+ 16.29024 186.0000
+ 15.29712 187.0000
+ 14.97839 188.0000
+ 12.11330 189.0000
+ 14.24168 190.0000
+ 12.53824 191.0000
+ 15.19818 192.0000
+ 11.70478 193.0000
+ 15.83745 194.0000
+ 10.035850 195.0000
+ 9.307574 196.0000
+ 12.86800 197.0000
+ 8.571671 198.0000
+ 11.60415 199.0000
+ 12.42772 200.0000
+ 11.23627 201.0000
+ 11.13198 202.0000
+ 7.761117 203.0000
+ 6.758250 204.0000
+ 14.23375 205.0000
+ 10.63876 206.0000
+ 8.893581 207.0000
+ 11.55398 208.0000
+ 11.57221 209.0000
+ 11.58347 210.0000
+ 9.724857 211.0000
+ 11.43854 212.0000
+ 11.22636 213.0000
+ 10.170150 214.0000
+ 12.50765 215.0000
+ 6.200494 216.0000
+ 9.018902 217.0000
+ 10.80557 218.0000
+ 13.09591 219.0000
+ 3.914033 220.0000
+ 9.567723 221.0000
+ 8.038338 222.0000
+ 10.230960 223.0000
+ 9.367358 224.0000
+ 7.695937 225.0000
+ 6.118552 226.0000
+ 8.793192 227.0000
+ 7.796682 228.0000
+ 12.45064 229.0000
+ 10.61601 230.0000
+ 6.001000 231.0000
+ 6.765096 232.0000
+ 8.764652 233.0000
+ 4.586417 234.0000
+ 8.390782 235.0000
+ 7.209201 236.0000
+ 10.012090 237.0000
+ 7.327461 238.0000
+ 6.525136 239.0000
+ 2.840065 240.0000
+ 10.323710 241.0000
+ 4.790035 242.0000
+ 8.376431 243.0000
+ 6.263980 244.0000
+ 2.705892 245.0000
+ 8.362109 246.0000
+ 8.983507 247.0000
+ 3.362469 248.0000
+ 1.182678 249.0000
+ 4.875312 250.0000
diff --git a/data/nist/Hahn1.dat b/data/nist/Hahn1.dat
new file mode 100644
index 0000000..f3069d7
--- /dev/null
+++ b/data/nist/Hahn1.dat
@@ -0,0 +1,296 @@
+NIST/ITL StRD
+Dataset Name: Hahn1 (Hahn1.dat)
+
+File Format: ASCII
+ Starting Values (lines 41 to 47)
+ Certified Values (lines 41 to 52)
+ Data (lines 61 to 296)
+
+Procedure: Nonlinear Least Squares Regression
+
+Description: These data are the result of a NIST study involving
+ the thermal expansion of copper. The response
+ variable is the coefficient of thermal expansion, and
+ the predictor variable is temperature in degrees
+ kelvin.
+
+
+Reference: Hahn, T., NIST (197?).
+ Copper Thermal Expansion Study.
+
+
+
+
+
+Data: 1 Response (y = coefficient of thermal expansion)
+ 1 Predictor (x = temperature, degrees kelvin)
+ 236 Observations
+ Average Level of Difficulty
+ Observed Data
+
+Model: Rational Class (cubic/cubic)
+ 7 Parameters (b1 to b7)
+
+ y = (b1+b2*x+b3*x**2+b4*x**3) /
+ (1+b5*x+b6*x**2+b7*x**3) + e
+
+
+ Starting values Certified Values
+
+ Start 1 Start 2 Parameter Standard Deviation
+ b1 = 10 1 1.0776351733E+00 1.7070154742E-01
+ b2 = -1 -0.1 -1.2269296921E-01 1.2000289189E-02
+ b3 = 0.05 0.005 4.0863750610E-03 2.2508314937E-04
+ b4 = -0.00001 -0.000001 -1.4262662514E-06 2.7578037666E-07
+ b5 = -0.05 -0.005 -5.7609940901E-03 2.4712888219E-04
+ b6 = 0.001 0.0001 2.4053735503E-04 1.0449373768E-05
+ b7 = -0.000001 -0.0000001 -1.2314450199E-07 1.3027335327E-08
+
+Residual Sum of Squares: 1.5324382854E+00
+Residual Standard Deviation: 8.1803852243E-02
+Degrees of Freedom: 229
+Number of Observations: 236
+
+
+
+
+
+
+
+Data: y x
+ .591E0 24.41E0
+ 1.547E0 34.82E0
+ 2.902E0 44.09E0
+ 2.894E0 45.07E0
+ 4.703E0 54.98E0
+ 6.307E0 65.51E0
+ 7.03E0 70.53E0
+ 7.898E0 75.70E0
+ 9.470E0 89.57E0
+ 9.484E0 91.14E0
+ 10.072E0 96.40E0
+ 10.163E0 97.19E0
+ 11.615E0 114.26E0
+ 12.005E0 120.25E0
+ 12.478E0 127.08E0
+ 12.982E0 133.55E0
+ 12.970E0 133.61E0
+ 13.926E0 158.67E0
+ 14.452E0 172.74E0
+ 14.404E0 171.31E0
+ 15.190E0 202.14E0
+ 15.550E0 220.55E0
+ 15.528E0 221.05E0
+ 15.499E0 221.39E0
+ 16.131E0 250.99E0
+ 16.438E0 268.99E0
+ 16.387E0 271.80E0
+ 16.549E0 271.97E0
+ 16.872E0 321.31E0
+ 16.830E0 321.69E0
+ 16.926E0 330.14E0
+ 16.907E0 333.03E0
+ 16.966E0 333.47E0
+ 17.060E0 340.77E0
+ 17.122E0 345.65E0
+ 17.311E0 373.11E0
+ 17.355E0 373.79E0
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+ 17.858E0 441.75E0
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+ 17.912E0 448.7E0
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+ 18.610E0 549.53E0
+ 18.870E0 575.29E0
+ 18.795E0 576.00E0
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+ .367E0 20.15E0
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+ 19.972E0 747.78E0
+ 20.088E0 750.51E0
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+ 20.83E0 845.97E0
+ 20.935E0 847.54E0
+ 21.035E0 849.93E0
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diff --git a/data/nist/Kirby2.dat b/data/nist/Kirby2.dat
new file mode 100644
index 0000000..04df176
--- /dev/null
+++ b/data/nist/Kirby2.dat
@@ -0,0 +1,211 @@
+NIST/ITL StRD
+Dataset Name: Kirby2 (Kirby2.dat)
+
+File Format: ASCII
+ Starting Values (lines 41 to 45)
+ Certified Values (lines 41 to 50)
+ Data (lines 61 to 211)
+
+Procedure: Nonlinear Least Squares Regression
+
+Description: These data are the result of a NIST study involving
+ scanning electron microscope line with standards.
+
+
+Reference: Kirby, R., NIST (197?).
+ Scanning electron microscope line width standards.
+
+
+
+
+
+
+
+
+Data: 1 Response (y)
+ 1 Predictor (x)
+ 151 Observations
+ Average Level of Difficulty
+ Observed Data
+
+Model: Rational Class (quadratic/quadratic)
+ 5 Parameters (b1 to b5)
+
+ y = (b1 + b2*x + b3*x**2) /
+ (1 + b4*x + b5*x**2) + e
+
+
+ Starting values Certified Values
+
+ Start 1 Start 2 Parameter Standard Deviation
+ b1 = 2 1.5 1.6745063063E+00 8.7989634338E-02
+ b2 = -0.1 -0.15 -1.3927397867E-01 4.1182041386E-03
+ b3 = 0.003 0.0025 2.5961181191E-03 4.1856520458E-05
+ b4 = -0.001 -0.0015 -1.7241811870E-03 5.8931897355E-05
+ b5 = 0.00001 0.00002 2.1664802578E-05 2.0129761919E-07
+
+Residual Sum of Squares: 3.9050739624E+00
+Residual Standard Deviation: 1.6354535131E-01
+Degrees of Freedom: 146
+Number of Observations: 151
+
+
+
+
+
+
+
+
+
+Data: y x
+ 0.0082E0 9.65E0
+ 0.0112E0 10.74E0
+ 0.0149E0 11.81E0
+ 0.0198E0 12.88E0
+ 0.0248E0 14.06E0
+ 0.0324E0 15.28E0
+ 0.0420E0 16.63E0
+ 0.0549E0 18.19E0
+ 0.0719E0 19.88E0
+ 0.0963E0 21.84E0
+ 0.1291E0 24.00E0
+ 0.1710E0 26.25E0
+ 0.2314E0 28.86E0
+ 0.3227E0 31.85E0
+ 0.4809E0 35.79E0
+ 0.7084E0 40.18E0
+ 1.0220E0 44.74E0
+ 1.4580E0 49.53E0
+ 1.9520E0 53.94E0
+ 2.5410E0 58.29E0
+ 3.2230E0 62.63E0
+ 3.9990E0 67.03E0
+ 4.8520E0 71.25E0
+ 5.7320E0 75.22E0
+ 6.7270E0 79.33E0
+ 7.8350E0 83.56E0
+ 9.0250E0 87.75E0
+ 10.2670E0 91.93E0
+ 11.5780E0 96.10E0
+ 12.9440E0 100.28E0
+ 14.3770E0 104.46E0
+ 15.8560E0 108.66E0
+ 17.3310E0 112.71E0
+ 18.8850E0 116.88E0
+ 20.5750E0 121.33E0
+ 22.3200E0 125.79E0
+ 22.3030E0 125.79E0
+ 23.4600E0 128.74E0
+ 24.0600E0 130.27E0
+ 25.2720E0 133.33E0
+ 25.8530E0 134.79E0
+ 27.1100E0 137.93E0
+ 27.6580E0 139.33E0
+ 28.9240E0 142.46E0
+ 29.5110E0 143.90E0
+ 30.7100E0 146.91E0
+ 31.3500E0 148.51E0
+ 32.5200E0 151.41E0
+ 33.2300E0 153.17E0
+ 34.3300E0 155.97E0
+ 35.0600E0 157.76E0
+ 36.1700E0 160.56E0
+ 36.8400E0 162.30E0
+ 38.0100E0 165.21E0
+ 38.6700E0 166.90E0
+ 39.8700E0 169.92E0
+ 40.0300E0 170.32E0
+ 40.5000E0 171.54E0
+ 41.3700E0 173.79E0
+ 41.6700E0 174.57E0
+ 42.3100E0 176.25E0
+ 42.7300E0 177.34E0
+ 43.4600E0 179.19E0
+ 44.1400E0 181.02E0
+ 44.5500E0 182.08E0
+ 45.2200E0 183.88E0
+ 45.9200E0 185.75E0
+ 46.3000E0 186.80E0
+ 47.0000E0 188.63E0
+ 47.6800E0 190.45E0
+ 48.0600E0 191.48E0
+ 48.7400E0 193.35E0
+ 49.4100E0 195.22E0
+ 49.7600E0 196.23E0
+ 50.4300E0 198.05E0
+ 51.1100E0 199.97E0
+ 51.5000E0 201.06E0
+ 52.1200E0 202.83E0
+ 52.7600E0 204.69E0
+ 53.1800E0 205.86E0
+ 53.7800E0 207.58E0
+ 54.4600E0 209.50E0
+ 54.8300E0 210.65E0
+ 55.4000E0 212.33E0
+ 56.4300E0 215.43E0
+ 57.0300E0 217.16E0
+ 58.0000E0 220.21E0
+ 58.6100E0 221.98E0
+ 59.5800E0 225.06E0
+ 60.1100E0 226.79E0
+ 61.1000E0 229.92E0
+ 61.6500E0 231.69E0
+ 62.5900E0 234.77E0
+ 63.1200E0 236.60E0
+ 64.0300E0 239.63E0
+ 64.6200E0 241.50E0
+ 65.4900E0 244.48E0
+ 66.0300E0 246.40E0
+ 66.8900E0 249.35E0
+ 67.4200E0 251.32E0
+ 68.2300E0 254.22E0
+ 68.7700E0 256.24E0
+ 69.5900E0 259.11E0
+ 70.1100E0 261.18E0
+ 70.8600E0 264.02E0
+ 71.4300E0 266.13E0
+ 72.1600E0 268.94E0
+ 72.7000E0 271.09E0
+ 73.4000E0 273.87E0
+ 73.9300E0 276.08E0
+ 74.6000E0 278.83E0
+ 75.1600E0 281.08E0
+ 75.8200E0 283.81E0
+ 76.3400E0 286.11E0
+ 76.9800E0 288.81E0
+ 77.4800E0 291.08E0
+ 78.0800E0 293.75E0
+ 78.6000E0 295.99E0
+ 79.1700E0 298.64E0
+ 79.6200E0 300.84E0
+ 79.8800E0 302.02E0
+ 80.1900E0 303.48E0
+ 80.6600E0 305.65E0
+ 81.2200E0 308.27E0
+ 81.6600E0 310.41E0
+ 82.1600E0 313.01E0
+ 82.5900E0 315.12E0
+ 83.1400E0 317.71E0
+ 83.5000E0 319.79E0
+ 84.0000E0 322.36E0
+ 84.4000E0 324.42E0
+ 84.8900E0 326.98E0
+ 85.2600E0 329.01E0
+ 85.7400E0 331.56E0
+ 86.0700E0 333.56E0
+ 86.5400E0 336.10E0
+ 86.8900E0 338.08E0
+ 87.3200E0 340.60E0
+ 87.6500E0 342.57E0
+ 88.1000E0 345.08E0
+ 88.4300E0 347.02E0
+ 88.8300E0 349.52E0
+ 89.1200E0 351.44E0
+ 89.5400E0 353.93E0
+ 89.8500E0 355.83E0
+ 90.2500E0 358.32E0
+ 90.5500E0 360.20E0
+ 90.9300E0 362.67E0
+ 91.2000E0 364.53E0
+ 91.5500E0 367.00E0
+ 92.2000E0 371.30E0
diff --git a/data/nist/Lanczos1.dat b/data/nist/Lanczos1.dat
new file mode 100644
index 0000000..8107320
--- /dev/null
+++ b/data/nist/Lanczos1.dat
@@ -0,0 +1,84 @@
+NIST/ITL StRD
+Dataset Name: Lanczos1 (Lanczos1.dat)
+
+File Format: ASCII
+ Starting Values (lines 41 to 46)
+ Certified Values (lines 41 to 51)
+ Data (lines 61 to 84)
+
+Procedure: Nonlinear Least Squares Regression
+
+Description: These data are taken from an example discussed in
+ Lanczos (1956). The data were generated to 14-digits
+ of accuracy using
+ f(x) = 0.0951*exp(-x) + 0.8607*exp(-3*x)
+ + 1.5576*exp(-5*x).
+
+
+Reference: Lanczos, C. (1956).
+ Applied Analysis.
+ Englewood Cliffs, NJ: Prentice Hall, pp. 272-280.
+
+
+
+
+Data: 1 Response (y)
+ 1 Predictor (x)
+ 24 Observations
+ Average Level of Difficulty
+ Generated Data
+
+Model: Exponential Class
+ 6 Parameters (b1 to b6)
+
+ y = b1*exp(-b2*x) + b3*exp(-b4*x) + b5*exp(-b6*x) + e
+
+
+
+ Starting values Certified Values
+
+ Start 1 Start 2 Parameter Standard Deviation
+ b1 = 1.2 0.5 9.5100000027E-02 5.3347304234E-11
+ b2 = 0.3 0.7 1.0000000001E+00 2.7473038179E-10
+ b3 = 5.6 3.6 8.6070000013E-01 1.3576062225E-10
+ b4 = 5.5 4.2 3.0000000002E+00 3.3308253069E-10
+ b5 = 6.5 4 1.5575999998E+00 1.8815731448E-10
+ b6 = 7.6 6.3 5.0000000001E+00 1.1057500538E-10
+
+Residual Sum of Squares: 1.4307867721E-25
+Residual Standard Deviation: 8.9156129349E-14
+Degrees of Freedom: 18
+Number of Observations: 24
+
+
+
+
+
+
+
+
+Data: y x
+ 2.513400000000E+00 0.000000000000E+00
+ 2.044333373291E+00 5.000000000000E-02
+ 1.668404436564E+00 1.000000000000E-01
+ 1.366418021208E+00 1.500000000000E-01
+ 1.123232487372E+00 2.000000000000E-01
+ 9.268897180037E-01 2.500000000000E-01
+ 7.679338563728E-01 3.000000000000E-01
+ 6.388775523106E-01 3.500000000000E-01
+ 5.337835317402E-01 4.000000000000E-01
+ 4.479363617347E-01 4.500000000000E-01
+ 3.775847884350E-01 5.000000000000E-01
+ 3.197393199326E-01 5.500000000000E-01
+ 2.720130773746E-01 6.000000000000E-01
+ 2.324965529032E-01 6.500000000000E-01
+ 1.996589546065E-01 7.000000000000E-01
+ 1.722704126914E-01 7.500000000000E-01
+ 1.493405660168E-01 8.000000000000E-01
+ 1.300700206922E-01 8.500000000000E-01
+ 1.138119324644E-01 9.000000000000E-01
+ 1.000415587559E-01 9.500000000000E-01
+ 8.833209084540E-02 1.000000000000E+00
+ 7.833544019350E-02 1.050000000000E+00
+ 6.976693743449E-02 1.100000000000E+00
+ 6.239312536719E-02 1.150000000000E+00
diff --git a/data/nist/Lanczos2.dat b/data/nist/Lanczos2.dat
new file mode 100644
index 0000000..fc98e69
--- /dev/null
+++ b/data/nist/Lanczos2.dat
@@ -0,0 +1,84 @@
+NIST/ITL StRD
+Dataset Name: Lanczos2 (Lanczos2.dat)
+
+File Format: ASCII
+ Starting Values (lines 41 to 46)
+ Certified Values (lines 41 to 51)
+ Data (lines 61 to 84)
+
+Procedure: Nonlinear Least Squares Regression
+
+Description: These data are taken from an example discussed in
+ Lanczos (1956). The data were generated to 6-digits
+ of accuracy using
+ f(x) = 0.0951*exp(-x) + 0.8607*exp(-3*x)
+ + 1.5576*exp(-5*x).
+
+
+Reference: Lanczos, C. (1956).
+ Applied Analysis.
+ Englewood Cliffs, NJ: Prentice Hall, pp. 272-280.
+
+
+
+
+Data: 1 Response (y)
+ 1 Predictor (x)
+ 24 Observations
+ Average Level of Difficulty
+ Generated Data
+
+Model: Exponential Class
+ 6 Parameters (b1 to b6)
+
+ y = b1*exp(-b2*x) + b3*exp(-b4*x) + b5*exp(-b6*x) + e
+
+
+
+ Starting values Certified Values
+
+ Start 1 Start 2 Parameter Standard Deviation
+ b1 = 1.2 0.5 9.6251029939E-02 6.6770575477E-04
+ b2 = 0.3 0.7 1.0057332849E+00 3.3989646176E-03
+ b3 = 5.6 3.6 8.6424689056E-01 1.7185846685E-03
+ b4 = 5.5 4.2 3.0078283915E+00 4.1707005856E-03
+ b5 = 6.5 4 1.5529016879E+00 2.3744381417E-03
+ b6 = 7.6 6.3 5.0028798100E+00 1.3958787284E-03
+
+Residual Sum of Squares: 2.2299428125E-11
+Residual Standard Deviation: 1.1130395851E-06
+Degrees of Freedom: 18
+Number of Observations: 24
+
+
+
+
+
+
+
+
+Data: y x
+ 2.51340E+00 0.00000E+00
+ 2.04433E+00 5.00000E-02
+ 1.66840E+00 1.00000E-01
+ 1.36642E+00 1.50000E-01
+ 1.12323E+00 2.00000E-01
+ 9.26890E-01 2.50000E-01
+ 7.67934E-01 3.00000E-01
+ 6.38878E-01 3.50000E-01
+ 5.33784E-01 4.00000E-01
+ 4.47936E-01 4.50000E-01
+ 3.77585E-01 5.00000E-01
+ 3.19739E-01 5.50000E-01
+ 2.72013E-01 6.00000E-01
+ 2.32497E-01 6.50000E-01
+ 1.99659E-01 7.00000E-01
+ 1.72270E-01 7.50000E-01
+ 1.49341E-01 8.00000E-01
+ 1.30070E-01 8.50000E-01
+ 1.13812E-01 9.00000E-01
+ 1.00042E-01 9.50000E-01
+ 8.83321E-02 1.00000E+00
+ 7.83354E-02 1.05000E+00
+ 6.97669E-02 1.10000E+00
+ 6.23931E-02 1.15000E+00
diff --git a/data/nist/Lanczos3.dat b/data/nist/Lanczos3.dat
new file mode 100644
index 0000000..d930d65
--- /dev/null
+++ b/data/nist/Lanczos3.dat
@@ -0,0 +1,84 @@
+NIST/ITL StRD
+Dataset Name: Lanczos3 (Lanczos3.dat)
+
+File Format: ASCII
+ Starting Values (lines 41 to 46)
+ Certified Values (lines 41 to 51)
+ Data (lines 61 to 84)
+
+Procedure: Nonlinear Least Squares Regression
+
+Description: These data are taken from an example discussed in
+ Lanczos (1956). The data were generated to 5-digits
+ of accuracy using
+ f(x) = 0.0951*exp(-x) + 0.8607*exp(-3*x)
+ + 1.5576*exp(-5*x).
+
+
+Reference: Lanczos, C. (1956).
+ Applied Analysis.
+ Englewood Cliffs, NJ: Prentice Hall, pp. 272-280.
+
+
+
+
+Data: 1 Response (y)
+ 1 Predictor (x)
+ 24 Observations
+ Lower Level of Difficulty
+ Generated Data
+
+Model: Exponential Class
+ 6 Parameters (b1 to b6)
+
+ y = b1*exp(-b2*x) + b3*exp(-b4*x) + b5*exp(-b6*x) + e
+
+
+
+ Starting values Certified Values
+
+ Start 1 Start 2 Parameter Standard Deviation
+ b1 = 1.2 0.5 8.6816414977E-02 1.7197908859E-02
+ b2 = 0.3 0.7 9.5498101505E-01 9.7041624475E-02
+ b3 = 5.6 3.6 8.4400777463E-01 4.1488663282E-02
+ b4 = 5.5 4.2 2.9515951832E+00 1.0766312506E-01
+ b5 = 6.5 4 1.5825685901E+00 5.8371576281E-02
+ b6 = 7.6 6.3 4.9863565084E+00 3.4436403035E-02
+
+Residual Sum of Squares: 1.6117193594E-08
+Residual Standard Deviation: 2.9923229172E-05
+Degrees of Freedom: 18
+Number of Observations: 24
+
+
+
+
+
+
+
+
+Data: y x
+ 2.5134E+00 0.00000E+00
+ 2.0443E+00 5.00000E-02
+ 1.6684E+00 1.00000E-01
+ 1.3664E+00 1.50000E-01
+ 1.1232E+00 2.00000E-01
+ 0.9269E+00 2.50000E-01
+ 0.7679E+00 3.00000E-01
+ 0.6389E+00 3.50000E-01
+ 0.5338E+00 4.00000E-01
+ 0.4479E+00 4.50000E-01
+ 0.3776E+00 5.00000E-01
+ 0.3197E+00 5.50000E-01
+ 0.2720E+00 6.00000E-01
+ 0.2325E+00 6.50000E-01
+ 0.1997E+00 7.00000E-01
+ 0.1723E+00 7.50000E-01
+ 0.1493E+00 8.00000E-01
+ 0.1301E+00 8.50000E-01
+ 0.1138E+00 9.00000E-01
+ 0.1000E+00 9.50000E-01
+ 0.0883E+00 1.00000E+00
+ 0.0783E+00 1.05000E+00
+ 0.0698E+00 1.10000E+00
+ 0.0624E+00 1.15000E+00
diff --git a/data/nist/MGH09.dat b/data/nist/MGH09.dat
new file mode 100644
index 0000000..1f19af8
--- /dev/null
+++ b/data/nist/MGH09.dat
@@ -0,0 +1,71 @@
+NIST/ITL StRD
+Dataset Name: MGH09 (MGH09.dat)
+
+File Format: ASCII
+ Starting Values (lines 41 to 44)
+ Certified Values (lines 41 to 49)
+ Data (lines 61 to 71)
+
+Procedure: Nonlinear Least Squares Regression
+
+Description: This problem was found to be difficult for some very
+ good algorithms. There is a local minimum at (+inf,
+ -14.07..., -inf, -inf) with final sum of squares
+ 0.00102734....
+
+ See More, J. J., Garbow, B. S., and Hillstrom, K. E.
+ (1981). Testing unconstrained optimization software.
+ ACM Transactions on Mathematical Software. 7(1):
+ pp. 17-41.
+
+Reference: Kowalik, J.S., and M. R. Osborne, (1978).
+ Methods for Unconstrained Optimization Problems.
+ New York, NY: Elsevier North-Holland.
+
+Data: 1 Response (y)
+ 1 Predictor (x)
+ 11 Observations
+ Higher Level of Difficulty
+ Generated Data
+
+Model: Rational Class (linear/quadratic)
+ 4 Parameters (b1 to b4)
+
+ y = b1*(x**2+x*b2) / (x**2+x*b3+b4) + e
+
+
+
+ Starting values Certified Values
+
+ Start 1 Start 2 Parameter Standard Deviation
+ b1 = 25 0.25 1.9280693458E-01 1.1435312227E-02
+ b2 = 39 0.39 1.9128232873E-01 1.9633220911E-01
+ b3 = 41.5 0.415 1.2305650693E-01 8.0842031232E-02
+ b4 = 39 0.39 1.3606233068E-01 9.0025542308E-02
+
+Residual Sum of Squares: 3.0750560385E-04
+Residual Standard Deviation: 6.6279236551E-03
+Degrees of Freedom: 7
+Number of Observations: 11
+
+
+
+
+
+
+
+
+
+
+Data: y x
+ 1.957000E-01 4.000000E+00
+ 1.947000E-01 2.000000E+00
+ 1.735000E-01 1.000000E+00
+ 1.600000E-01 5.000000E-01
+ 8.440000E-02 2.500000E-01
+ 6.270000E-02 1.670000E-01
+ 4.560000E-02 1.250000E-01
+ 3.420000E-02 1.000000E-01
+ 3.230000E-02 8.330000E-02
+ 2.350000E-02 7.140000E-02
+ 2.460000E-02 6.250000E-02
diff --git a/data/nist/MGH10.dat b/data/nist/MGH10.dat
new file mode 100644
index 0000000..df88ea4
--- /dev/null
+++ b/data/nist/MGH10.dat
@@ -0,0 +1,76 @@
+NIST/ITL StRD
+Dataset Name: MGH10 (MGH10.dat)
+
+File Format: ASCII
+ Starting Values (lines 41 to 43)
+ Certified Values (lines 41 to 48)
+ Data (lines 61 to 76)
+
+Procedure: Nonlinear Least Squares Regression
+
+Description: This problem was found to be difficult for some very
+ good algorithms.
+
+ See More, J. J., Garbow, B. S., and Hillstrom, K. E.
+ (1981). Testing unconstrained optimization software.
+ ACM Transactions on Mathematical Software. 7(1):
+ pp. 17-41.
+
+Reference: Meyer, R. R. (1970).
+ Theoretical and computational aspects of nonlinear
+ regression. In Nonlinear Programming, Rosen,
+ Mangasarian and Ritter (Eds).
+ New York, NY: Academic Press, pp. 465-486.
+
+Data: 1 Response (y)
+ 1 Predictor (x)
+ 16 Observations
+ Higher Level of Difficulty
+ Generated Data
+
+Model: Exponential Class
+ 3 Parameters (b1 to b3)
+
+ y = b1 * exp[b2/(x+b3)] + e
+
+
+
+ Starting values Certified Values
+
+ Start 1 Start 2 Parameter Standard Deviation
+ b1 = 2 0.02 5.6096364710E-03 1.5687892471E-04
+ b2 = 400000 4000 6.1813463463E+03 2.3309021107E+01
+ b3 = 25000 250 3.4522363462E+02 7.8486103508E-01
+
+Residual Sum of Squares: 8.7945855171E+01
+Residual Standard Deviation: 2.6009740065E+00
+Degrees of Freedom: 13
+Number of Observations: 16
+
+
+
+
+
+
+
+
+
+
+
+Data: y x
+ 3.478000E+04 5.000000E+01
+ 2.861000E+04 5.500000E+01
+ 2.365000E+04 6.000000E+01
+ 1.963000E+04 6.500000E+01
+ 1.637000E+04 7.000000E+01
+ 1.372000E+04 7.500000E+01
+ 1.154000E+04 8.000000E+01
+ 9.744000E+03 8.500000E+01
+ 8.261000E+03 9.000000E+01
+ 7.030000E+03 9.500000E+01
+ 6.005000E+03 1.000000E+02
+ 5.147000E+03 1.050000E+02
+ 4.427000E+03 1.100000E+02
+ 3.820000E+03 1.150000E+02
+ 3.307000E+03 1.200000E+02
+ 2.872000E+03 1.250000E+02
diff --git a/data/nist/MGH17.dat b/data/nist/MGH17.dat
new file mode 100644
index 0000000..3b3b7e8
--- /dev/null
+++ b/data/nist/MGH17.dat
@@ -0,0 +1,93 @@
+NIST/ITL StRD
+Dataset Name: MGH17 (MGH17.dat)
+
+File Format: ASCII
+ Starting Values (lines 41 to 45)
+ Certified Values (lines 41 to 50)
+ Data (lines 61 to 93)
+
+Procedure: Nonlinear Least Squares Regression
+
+Description: This problem was found to be difficult for some very
+ good algorithms.
+
+ See More, J. J., Garbow, B. S., and Hillstrom, K. E.
+ (1981). Testing unconstrained optimization software.
+ ACM Transactions on Mathematical Software. 7(1):
+ pp. 17-41.
+
+Reference: Osborne, M. R. (1972).
+ Some aspects of nonlinear least squares
+ calculations. In Numerical Methods for Nonlinear
+ Optimization, Lootsma (Ed).
+ New York, NY: Academic Press, pp. 171-189.
+
+Data: 1 Response (y)
+ 1 Predictor (x)
+ 33 Observations
+ Average Level of Difficulty
+ Generated Data
+
+Model: Exponential Class
+ 5 Parameters (b1 to b5)
+
+ y = b1 + b2*exp[-x*b4] + b3*exp[-x*b5] + e
+
+
+
+ Starting values Certified Values
+
+ Start 1 Start 2 Parameter Standard Deviation
+ b1 = 50 0.5 3.7541005211E-01 2.0723153551E-03
+ b2 = 150 1.5 1.9358469127E+00 2.2031669222E-01
+ b3 = -100 -1 -1.4646871366E+00 2.2175707739E-01
+ b4 = 1 0.01 1.2867534640E-02 4.4861358114E-04
+ b5 = 2 0.02 2.2122699662E-02 8.9471996575E-04
+
+Residual Sum of Squares: 5.4648946975E-05
+Residual Standard Deviation: 1.3970497866E-03
+Degrees of Freedom: 28
+Number of Observations: 33
+
+
+
+
+
+
+
+
+
+Data: y x
+ 8.440000E-01 0.000000E+00
+ 9.080000E-01 1.000000E+01
+ 9.320000E-01 2.000000E+01
+ 9.360000E-01 3.000000E+01
+ 9.250000E-01 4.000000E+01
+ 9.080000E-01 5.000000E+01
+ 8.810000E-01 6.000000E+01
+ 8.500000E-01 7.000000E+01
+ 8.180000E-01 8.000000E+01
+ 7.840000E-01 9.000000E+01
+ 7.510000E-01 1.000000E+02
+ 7.180000E-01 1.100000E+02
+ 6.850000E-01 1.200000E+02
+ 6.580000E-01 1.300000E+02
+ 6.280000E-01 1.400000E+02
+ 6.030000E-01 1.500000E+02
+ 5.800000E-01 1.600000E+02
+ 5.580000E-01 1.700000E+02
+ 5.380000E-01 1.800000E+02
+ 5.220000E-01 1.900000E+02
+ 5.060000E-01 2.000000E+02
+ 4.900000E-01 2.100000E+02
+ 4.780000E-01 2.200000E+02
+ 4.670000E-01 2.300000E+02
+ 4.570000E-01 2.400000E+02
+ 4.480000E-01 2.500000E+02
+ 4.380000E-01 2.600000E+02
+ 4.310000E-01 2.700000E+02
+ 4.240000E-01 2.800000E+02
+ 4.200000E-01 2.900000E+02
+ 4.140000E-01 3.000000E+02
+ 4.110000E-01 3.100000E+02
+ 4.060000E-01 3.200000E+02
diff --git a/data/nist/Misra1a.dat b/data/nist/Misra1a.dat
new file mode 100644
index 0000000..332f37e
--- /dev/null
+++ b/data/nist/Misra1a.dat
@@ -0,0 +1,74 @@
+NIST/ITL StRD
+Dataset Name: Misra1a (Misra1a.dat)
+
+File Format: ASCII
+ Starting Values (lines 41 to 42)
+ Certified Values (lines 41 to 47)
+ Data (lines 61 to 74)
+
+Procedure: Nonlinear Least Squares Regression
+
+Description: These data are the result of a NIST study regarding
+ dental research in monomolecular adsorption. The
+ response variable is volume, and the predictor
+ variable is pressure.
+
+Reference: Misra, D., NIST (1978).
+ Dental Research Monomolecular Adsorption Study.
+
+
+
+
+
+
+
+Data: 1 Response Variable (y = volume)
+ 1 Predictor Variable (x = pressure)
+ 14 Observations
+ Lower Level of Difficulty
+ Observed Data
+
+Model: Exponential Class
+ 2 Parameters (b1 and b2)
+
+ y = b1*(1-exp[-b2*x]) + e
+
+
+
+ Starting values Certified Values
+
+ Start 1 Start 2 Parameter Standard Deviation
+ b1 = 500 250 2.3894212918E+02 2.7070075241E+00
+ b2 = 0.0001 0.0005 5.5015643181E-04 7.2668688436E-06
+
+Residual Sum of Squares: 1.2455138894E-01
+Residual Standard Deviation: 1.0187876330E-01
+Degrees of Freedom: 12
+Number of Observations: 14
+
+
+
+
+
+
+
+
+
+
+
+
+Data: y x
+ 10.07E0 77.6E0
+ 14.73E0 114.9E0
+ 17.94E0 141.1E0
+ 23.93E0 190.8E0
+ 29.61E0 239.9E0
+ 35.18E0 289.0E0
+ 40.02E0 332.8E0
+ 44.82E0 378.4E0
+ 50.76E0 434.8E0
+ 55.05E0 477.3E0
+ 61.01E0 536.8E0
+ 66.40E0 593.1E0
+ 75.47E0 689.1E0
+ 81.78E0 760.0E0
diff --git a/data/nist/Misra1b.dat b/data/nist/Misra1b.dat
new file mode 100644
index 0000000..7923d40
--- /dev/null
+++ b/data/nist/Misra1b.dat
@@ -0,0 +1,74 @@
+NIST/ITL StRD
+Dataset Name: Misra1b (Misra1b.dat)
+
+File Format: ASCII
+ Starting Values (lines 41 to 42)
+ Certified Values (lines 41 to 47)
+ Data (lines 61 to 74)
+
+Procedure: Nonlinear Least Squares Regression
+
+Description: These data are the result of a NIST study regarding
+ dental research in monomolecular adsorption. The
+ response variable is volume, and the predictor
+ variable is pressure.
+
+Reference: Misra, D., NIST (1978).
+ Dental Research Monomolecular Adsorption Study.
+
+
+
+
+
+
+
+Data: 1 Response (y = volume)
+ 1 Predictor (x = pressure)
+ 14 Observations
+ Lower Level of Difficulty
+ Observed Data
+
+Model: Miscellaneous Class
+ 2 Parameters (b1 and b2)
+
+ y = b1 * (1-(1+b2*x/2)**(-2)) + e
+
+
+
+ Starting values Certified Values
+
+ Start 1 Start 2 Parameter Standard Deviation
+ b1 = 500 300 3.3799746163E+02 3.1643950207E+00
+ b2 = 0.0001 0.0002 3.9039091287E-04 4.2547321834E-06
+
+Residual Sum of Squares: 7.5464681533E-02
+Residual Standard Deviation: 7.9301471998E-02
+Degrees of Freedom: 12
+Number of Observations: 14
+
+
+
+
+
+
+
+
+
+
+
+
+Data: y x
+ 10.07E0 77.6E0
+ 14.73E0 114.9E0
+ 17.94E0 141.1E0
+ 23.93E0 190.8E0
+ 29.61E0 239.9E0
+ 35.18E0 289.0E0
+ 40.02E0 332.8E0
+ 44.82E0 378.4E0
+ 50.76E0 434.8E0
+ 55.05E0 477.3E0
+ 61.01E0 536.8E0
+ 66.40E0 593.1E0
+ 75.47E0 689.1E0
+ 81.78E0 760.0E0
diff --git a/data/nist/Misra1c.dat b/data/nist/Misra1c.dat
new file mode 100644
index 0000000..d86bc82
--- /dev/null
+++ b/data/nist/Misra1c.dat
@@ -0,0 +1,74 @@
+NIST/ITL StRD
+Dataset Name: Misra1c (Misra1c.dat)
+
+File Format: ASCII
+ Starting Values (lines 41 to 42)
+ Certified Values (lines 41 to 47)
+ Data (lines 61 to 74)
+
+Procedure: Nonlinear Least Squares Regression
+
+Description: These data are the result of a NIST study regarding
+ dental research in monomolecular adsorption. The
+ response variable is volume, and the predictor
+ variable is pressure.
+
+Reference: Misra, D., NIST (1978).
+ Dental Research Monomolecular Adsorption.
+
+
+
+
+
+
+
+Data: 1 Response (y = volume)
+ 1 Predictor (x = pressure)
+ 14 Observations
+ Average Level of Difficulty
+ Observed Data
+
+Model: Miscellaneous Class
+ 2 Parameters (b1 and b2)
+
+ y = b1 * (1-(1+2*b2*x)**(-.5)) + e
+
+
+
+ Starting values Certified Values
+
+ Start 1 Start 2 Parameter Standard Deviation
+ b1 = 500 600 6.3642725809E+02 4.6638326572E+00
+ b2 = 0.0001 0.0002 2.0813627256E-04 1.7728423155E-06
+
+Residual Sum of Squares: 4.0966836971E-02
+Residual Standard Deviation: 5.8428615257E-02
+Degrees of Freedom: 12
+Number of Observations: 14
+
+
+
+
+
+
+
+
+
+
+
+
+Data: y x
+ 10.07E0 77.6E0
+ 14.73E0 114.9E0
+ 17.94E0 141.1E0
+ 23.93E0 190.8E0
+ 29.61E0 239.9E0
+ 35.18E0 289.0E0
+ 40.02E0 332.8E0
+ 44.82E0 378.4E0
+ 50.76E0 434.8E0
+ 55.05E0 477.3E0
+ 61.01E0 536.8E0
+ 66.40E0 593.1E0
+ 75.47E0 689.1E0
+ 81.78E0 760.0E0
diff --git a/data/nist/Misra1d.dat b/data/nist/Misra1d.dat
new file mode 100644
index 0000000..237de46
--- /dev/null
+++ b/data/nist/Misra1d.dat
@@ -0,0 +1,74 @@
+NIST/ITL StRD
+Dataset Name: Misra1d (Misra1d.dat)
+
+File Format: ASCII
+ Starting Values (lines 41 to 42)
+ Certified Values (lines 41 to 47)
+ Data (lines 61 to 74)
+
+Procedure: Nonlinear Least Squares Regression
+
+Description: These data are the result of a NIST study regarding
+ dental research in monomolecular adsorption. The
+ response variable is volume, and the predictor
+ variable is pressure.
+
+Reference: Misra, D., NIST (1978).
+ Dental Research Monomolecular Adsorption Study.
+
+
+
+
+
+
+
+Data: 1 Response (y = volume)
+ 1 Predictor (x = pressure)
+ 14 Observations
+ Average Level of Difficulty
+ Observed Data
+
+Model: Miscellaneous Class
+ 2 Parameters (b1 and b2)
+
+ y = b1*b2*x*((1+b2*x)**(-1)) + e
+
+
+
+ Starting values Certified Values
+
+ Start 1 Start 2 Parameter Standard Deviation
+ b1 = 500 450 4.3736970754E+02 3.6489174345E+00
+ b2 = 0.0001 0.0003 3.0227324449E-04 2.9334354479E-06
+
+Residual Sum of Squares: 5.6419295283E-02
+Residual Standard Deviation: 6.8568272111E-02
+Degrees of Freedom: 12
+Number of Observations: 14
+
+
+
+
+
+
+
+
+
+
+
+
+Data: y x
+ 10.07E0 77.6E0
+ 14.73E0 114.9E0
+ 17.94E0 141.1E0
+ 23.93E0 190.8E0
+ 29.61E0 239.9E0
+ 35.18E0 289.0E0
+ 40.02E0 332.8E0
+ 44.82E0 378.4E0
+ 50.76E0 434.8E0
+ 55.05E0 477.3E0
+ 61.01E0 536.8E0
+ 66.40E0 593.1E0
+ 75.47E0 689.1E0
+ 81.78E0 760.0E0
diff --git a/data/nist/Nelson.dat b/data/nist/Nelson.dat
new file mode 100644
index 0000000..5ce1003
--- /dev/null
+++ b/data/nist/Nelson.dat
@@ -0,0 +1,188 @@
+NIST/ITL StRD
+Dataset Name: Nelson (Nelson.dat)
+
+File Format: ASCII
+ Starting Values (lines 41 to 43)
+ Certified Values (lines 41 to 48)
+ Data (lines 61 to 188)
+
+Procedure: Nonlinear Least Squares Regression
+
+Description: These data are the result of a study involving
+ the analysis of performance degradation data from
+ accelerated tests, published in IEEE Transactions
+ on Reliability. The response variable is dialectric
+ breakdown strength in kilo-volts, and the predictor
+ variables are time in weeks and temperature in degrees
+ Celcius.
+
+
+Reference: Nelson, W. (1981).
+ Analysis of Performance-Degradation Data.
+ IEEE Transactions on Reliability.
+ Vol. 2, R-30, No. 2, pp. 149-155.
+
+Data: 1 Response ( y = dialectric breakdown strength)
+ 2 Predictors (x1 = time; x2 = temperature)
+ 128 Observations
+ Average Level of Difficulty
+ Observed Data
+
+Model: Exponential Class
+ 3 Parameters (b1 to b3)
+
+ log[y] = b1 - b2*x1 * exp[-b3*x2] + e
+
+
+
+ Starting values Certified Values
+
+ Start 1 Start 2 Parameter Standard Deviation
+ b1 = 2 2.5 2.5906836021E+00 1.9149996413E-02
+ b2 = 0.0001 0.000000005 5.6177717026E-09 6.1124096540E-09
+ b3 = -0.01 -0.05 -5.7701013174E-02 3.9572366543E-03
+
+Residual Sum of Squares: 3.7976833176E+00
+Residual Standard Deviation: 1.7430280130E-01
+Degrees of Freedom: 125
+Number of Observations: 128
+
+
+
+
+
+
+
+
+
+
+
+Data: y x1 x2
+ 15.00E0 1E0 180E0
+ 17.00E0 1E0 180E0
+ 15.50E0 1E0 180E0
+ 16.50E0 1E0 180E0
+ 15.50E0 1E0 225E0
+ 15.00E0 1E0 225E0
+ 16.00E0 1E0 225E0
+ 14.50E0 1E0 225E0
+ 15.00E0 1E0 250E0
+ 14.50E0 1E0 250E0
+ 12.50E0 1E0 250E0
+ 11.00E0 1E0 250E0
+ 14.00E0 1E0 275E0
+ 13.00E0 1E0 275E0
+ 14.00E0 1E0 275E0
+ 11.50E0 1E0 275E0
+ 14.00E0 2E0 180E0
+ 16.00E0 2E0 180E0
+ 13.00E0 2E0 180E0
+ 13.50E0 2E0 180E0
+ 13.00E0 2E0 225E0
+ 13.50E0 2E0 225E0
+ 12.50E0 2E0 225E0
+ 12.50E0 2E0 225E0
+ 12.50E0 2E0 250E0
+ 12.00E0 2E0 250E0
+ 11.50E0 2E0 250E0
+ 12.00E0 2E0 250E0
+ 13.00E0 2E0 275E0
+ 11.50E0 2E0 275E0
+ 13.00E0 2E0 275E0
+ 12.50E0 2E0 275E0
+ 13.50E0 4E0 180E0
+ 17.50E0 4E0 180E0
+ 17.50E0 4E0 180E0
+ 13.50E0 4E0 180E0
+ 12.50E0 4E0 225E0
+ 12.50E0 4E0 225E0
+ 15.00E0 4E0 225E0
+ 13.00E0 4E0 225E0
+ 12.00E0 4E0 250E0
+ 13.00E0 4E0 250E0
+ 12.00E0 4E0 250E0
+ 13.50E0 4E0 250E0
+ 10.00E0 4E0 275E0
+ 11.50E0 4E0 275E0
+ 11.00E0 4E0 275E0
+ 9.50E0 4E0 275E0
+ 15.00E0 8E0 180E0
+ 15.00E0 8E0 180E0
+ 15.50E0 8E0 180E0
+ 16.00E0 8E0 180E0
+ 13.00E0 8E0 225E0
+ 10.50E0 8E0 225E0
+ 13.50E0 8E0 225E0
+ 14.00E0 8E0 225E0
+ 12.50E0 8E0 250E0
+ 12.00E0 8E0 250E0
+ 11.50E0 8E0 250E0
+ 11.50E0 8E0 250E0
+ 6.50E0 8E0 275E0
+ 5.50E0 8E0 275E0
+ 6.00E0 8E0 275E0
+ 6.00E0 8E0 275E0
+ 18.50E0 16E0 180E0
+ 17.00E0 16E0 180E0
+ 15.30E0 16E0 180E0
+ 16.00E0 16E0 180E0
+ 13.00E0 16E0 225E0
+ 14.00E0 16E0 225E0
+ 12.50E0 16E0 225E0
+ 11.00E0 16E0 225E0
+ 12.00E0 16E0 250E0
+ 12.00E0 16E0 250E0
+ 11.50E0 16E0 250E0
+ 12.00E0 16E0 250E0
+ 6.00E0 16E0 275E0
+ 6.00E0 16E0 275E0
+ 5.00E0 16E0 275E0
+ 5.50E0 16E0 275E0
+ 12.50E0 32E0 180E0
+ 13.00E0 32E0 180E0
+ 16.00E0 32E0 180E0
+ 12.00E0 32E0 180E0
+ 11.00E0 32E0 225E0
+ 9.50E0 32E0 225E0
+ 11.00E0 32E0 225E0
+ 11.00E0 32E0 225E0
+ 11.00E0 32E0 250E0
+ 10.00E0 32E0 250E0
+ 10.50E0 32E0 250E0
+ 10.50E0 32E0 250E0
+ 2.70E0 32E0 275E0
+ 2.70E0 32E0 275E0
+ 2.50E0 32E0 275E0
+ 2.40E0 32E0 275E0
+ 13.00E0 48E0 180E0
+ 13.50E0 48E0 180E0
+ 16.50E0 48E0 180E0
+ 13.60E0 48E0 180E0
+ 11.50E0 48E0 225E0
+ 10.50E0 48E0 225E0
+ 13.50E0 48E0 225E0
+ 12.00E0 48E0 225E0
+ 7.00E0 48E0 250E0
+ 6.90E0 48E0 250E0
+ 8.80E0 48E0 250E0
+ 7.90E0 48E0 250E0
+ 1.20E0 48E0 275E0
+ 1.50E0 48E0 275E0
+ 1.00E0 48E0 275E0
+ 1.50E0 48E0 275E0
+ 13.00E0 64E0 180E0
+ 12.50E0 64E0 180E0
+ 16.50E0 64E0 180E0
+ 16.00E0 64E0 180E0
+ 11.00E0 64E0 225E0
+ 11.50E0 64E0 225E0
+ 10.50E0 64E0 225E0
+ 10.00E0 64E0 225E0
+ 7.27E0 64E0 250E0
+ 7.50E0 64E0 250E0
+ 6.70E0 64E0 250E0
+ 7.60E0 64E0 250E0
+ 1.50E0 64E0 275E0
+ 1.00E0 64E0 275E0
+ 1.20E0 64E0 275E0
+ 1.20E0 64E0 275E0
diff --git a/data/nist/Rat42.dat b/data/nist/Rat42.dat
new file mode 100644
index 0000000..e112fbb
--- /dev/null
+++ b/data/nist/Rat42.dat
@@ -0,0 +1,69 @@
+NIST/ITL StRD
+Dataset Name: Rat42 (Rat42.dat)
+
+File Format: ASCII
+ Starting Values (lines 41 to 43)
+ Certified Values (lines 41 to 48)
+ Data (lines 61 to 69)
+
+Procedure: Nonlinear Least Squares Regression
+
+Description: This model and data are an example of fitting
+ sigmoidal growth curves taken from Ratkowsky (1983).
+ The response variable is pasture yield, and the
+ predictor variable is growing time.
+
+
+Reference: Ratkowsky, D.A. (1983).
+ Nonlinear Regression Modeling.
+ New York, NY: Marcel Dekker, pp. 61 and 88.
+
+
+
+
+
+Data: 1 Response (y = pasture yield)
+ 1 Predictor (x = growing time)
+ 9 Observations
+ Higher Level of Difficulty
+ Observed Data
+
+Model: Exponential Class
+ 3 Parameters (b1 to b3)
+
+ y = b1 / (1+exp[b2-b3*x]) + e
+
+
+
+ Starting Values Certified Values
+
+ Start 1 Start 2 Parameter Standard Deviation
+ b1 = 100 75 7.2462237576E+01 1.7340283401E+00
+ b2 = 1 2.5 2.6180768402E+00 8.8295217536E-02
+ b3 = 0.1 0.07 6.7359200066E-02 3.4465663377E-03
+
+Residual Sum of Squares: 8.0565229338E+00
+Residual Standard Deviation: 1.1587725499E+00
+Degrees of Freedom: 6
+Number of Observations: 9
+
+
+
+
+
+
+
+
+
+
+
+Data: y x
+ 8.930E0 9.000E0
+ 10.800E0 14.000E0
+ 18.590E0 21.000E0
+ 22.330E0 28.000E0
+ 39.350E0 42.000E0
+ 56.110E0 57.000E0
+ 61.730E0 63.000E0
+ 64.620E0 70.000E0
+ 67.080E0 79.000E0
diff --git a/data/nist/Rat43.dat b/data/nist/Rat43.dat
new file mode 100644
index 0000000..347d846
--- /dev/null
+++ b/data/nist/Rat43.dat
@@ -0,0 +1,75 @@
+NIST/ITL StRD
+Dataset Name: Rat43 (Rat43.dat)
+
+File Format: ASCII
+ Starting Values (lines 41 to 44)
+ Certified Values (lines 41 to 49)
+ Data (lines 61 to 75)
+
+Procedure: Nonlinear Least Squares Regression
+
+Description: This model and data are an example of fitting
+ sigmoidal growth curves taken from Ratkowsky (1983).
+ The response variable is the dry weight of onion bulbs
+ and tops, and the predictor variable is growing time.
+
+
+Reference: Ratkowsky, D.A. (1983).
+ Nonlinear Regression Modeling.
+ New York, NY: Marcel Dekker, pp. 62 and 88.
+
+
+
+
+
+Data: 1 Response (y = onion bulb dry weight)
+ 1 Predictor (x = growing time)
+ 15 Observations
+ Higher Level of Difficulty
+ Observed Data
+
+Model: Exponential Class
+ 4 Parameters (b1 to b4)
+
+ y = b1 / ((1+exp[b2-b3*x])**(1/b4)) + e
+
+
+
+ Starting Values Certified Values
+
+ Start 1 Start 2 Parameter Standard Deviation
+ b1 = 100 700 6.9964151270E+02 1.6302297817E+01
+ b2 = 10 5 5.2771253025E+00 2.0828735829E+00
+ b3 = 1 0.75 7.5962938329E-01 1.9566123451E-01
+ b4 = 1 1.3 1.2792483859E+00 6.8761936385E-01
+
+Residual Sum of Squares: 8.7864049080E+03
+Residual Standard Deviation: 2.8262414662E+01
+Degrees of Freedom: 9
+Number of Observations: 15
+
+
+
+
+
+
+
+
+
+
+Data: y x
+ 16.08E0 1.0E0
+ 33.83E0 2.0E0
+ 65.80E0 3.0E0
+ 97.20E0 4.0E0
+ 191.55E0 5.0E0
+ 326.20E0 6.0E0
+ 386.87E0 7.0E0
+ 520.53E0 8.0E0
+ 590.03E0 9.0E0
+ 651.92E0 10.0E0
+ 724.93E0 11.0E0
+ 699.56E0 12.0E0
+ 689.96E0 13.0E0
+ 637.56E0 14.0E0
+ 717.41E0 15.0E0
diff --git a/data/nist/Roszman1.dat b/data/nist/Roszman1.dat
new file mode 100644
index 0000000..1d67674
--- /dev/null
+++ b/data/nist/Roszman1.dat
@@ -0,0 +1,85 @@
+NIST/ITL StRD
+Dataset Name: Roszman1 (Roszman1.dat)
+
+File Format: ASCII
+ Starting Values (lines 41 to 44)
+ Certified Values (lines 41 to 49)
+ Data (lines 61 to 85)
+
+Procedure: Nonlinear Least Squares Regression
+
+Description: These data are the result of a NIST study involving
+ quantum defects in iodine atoms. The response
+ variable is the number of quantum defects, and the
+ predictor variable is the excited energy state.
+ The argument to the ARCTAN function is in radians.
+
+Reference: Roszman, L., NIST (19??).
+ Quantum Defects for Sulfur I Atom.
+
+
+
+
+
+
+Data: 1 Response (y = quantum defect)
+ 1 Predictor (x = excited state energy)
+ 25 Observations
+ Average Level of Difficulty
+ Observed Data
+
+Model: Miscellaneous Class
+ 4 Parameters (b1 to b4)
+
+ pi = 3.141592653589793238462643383279E0
+ y = b1 - b2*x - arctan[b3/(x-b4)]/pi + e
+
+
+ Starting Values Certified Values
+
+ Start 1 Start 2 Parameter Standard Deviation
+ b1 = 0.1 0.2 1.20196866396E-0 1.9172666023E-02
+ b2 = -0.00001 -0.000005 -6.1953516256E-06 3.2058931691E-06
+ b3 = 1000 1200 1.2044556708E+03 7.4050983057E+01
+ b4 = -100 -150 -1.8134269537E+02 4.9573513849E+01
+
+Residual Sum of Squares: 4.9484847331E-04
+Residual Standard Deviation: 4.8542984060E-03
+Degrees of Freedom: 21
+Number of Observations: 25
+
+
+
+
+
+
+
+
+
+
+Data: y x
+ 0.252429 -4868.68
+ 0.252141 -4868.09
+ 0.251809 -4867.41
+ 0.297989 -3375.19
+ 0.296257 -3373.14
+ 0.295319 -3372.03
+ 0.339603 -2473.74
+ 0.337731 -2472.35
+ 0.333820 -2469.45
+ 0.389510 -1894.65
+ 0.386998 -1893.40
+ 0.438864 -1497.24
+ 0.434887 -1495.85
+ 0.427893 -1493.41
+ 0.471568 -1208.68
+ 0.461699 -1206.18
+ 0.461144 -1206.04
+ 0.513532 -997.92
+ 0.506641 -996.61
+ 0.505062 -996.31
+ 0.535648 -834.94
+ 0.533726 -834.66
+ 0.568064 -710.03
+ 0.612886 -530.16
+ 0.624169 -464.17
diff --git a/data/nist/Thurber.dat b/data/nist/Thurber.dat
new file mode 100644
index 0000000..6d72fd9
--- /dev/null
+++ b/data/nist/Thurber.dat
@@ -0,0 +1,97 @@
+NIST/ITL StRD
+Dataset Name: Thurber (Thurber.dat)
+
+File Format: ASCII
+ Starting Values (lines 41 to 47)
+ Certified Values (lines 41 to 52)
+ Data (lines 61 to 97)
+
+Procedure: Nonlinear Least Squares Regression
+
+Description: These data are the result of a NIST study involving
+ semiconductor electron mobility. The response
+ variable is a measure of electron mobility, and the
+ predictor variable is the natural log of the density.
+
+
+Reference: Thurber, R., NIST (197?).
+ Semiconductor electron mobility modeling.
+
+
+
+
+
+
+Data: 1 Response Variable (y = electron mobility)
+ 1 Predictor Variable (x = log[density])
+ 37 Observations
+ Higher Level of Difficulty
+ Observed Data
+
+Model: Rational Class (cubic/cubic)
+ 7 Parameters (b1 to b7)
+
+ y = (b1 + b2*x + b3*x**2 + b4*x**3) /
+ (1 + b5*x + b6*x**2 + b7*x**3) + e
+
+
+ Starting Values Certified Values
+
+ Start 1 Start 2 Parameter Standard Deviation
+ b1 = 1000 1300 1.2881396800E+03 4.6647963344E+00
+ b2 = 1000 1500 1.4910792535E+03 3.9571156086E+01
+ b3 = 400 500 5.8323836877E+02 2.8698696102E+01
+ b4 = 40 75 7.5416644291E+01 5.5675370270E+00
+ b5 = 0.7 1 9.6629502864E-01 3.1333340687E-02
+ b6 = 0.3 0.4 3.9797285797E-01 1.4984928198E-02
+ b7 = 0.03 0.05 4.9727297349E-02 6.5842344623E-03
+
+Residual Sum of Squares: 5.6427082397E+03
+Residual Standard Deviation: 1.3714600784E+01
+Degrees of Freedom: 30
+Number of Observations: 37
+
+
+
+
+
+
+
+Data: y x
+ 80.574E0 -3.067E0
+ 84.248E0 -2.981E0
+ 87.264E0 -2.921E0
+ 87.195E0 -2.912E0
+ 89.076E0 -2.840E0
+ 89.608E0 -2.797E0
+ 89.868E0 -2.702E0
+ 90.101E0 -2.699E0
+ 92.405E0 -2.633E0
+ 95.854E0 -2.481E0
+ 100.696E0 -2.363E0
+ 101.060E0 -2.322E0
+ 401.672E0 -1.501E0
+ 390.724E0 -1.460E0
+ 567.534E0 -1.274E0
+ 635.316E0 -1.212E0
+ 733.054E0 -1.100E0
+ 759.087E0 -1.046E0
+ 894.206E0 -0.915E0
+ 990.785E0 -0.714E0
+ 1090.109E0 -0.566E0
+ 1080.914E0 -0.545E0
+ 1122.643E0 -0.400E0
+ 1178.351E0 -0.309E0
+ 1260.531E0 -0.109E0
+ 1273.514E0 -0.103E0
+ 1288.339E0 0.010E0
+ 1327.543E0 0.119E0
+ 1353.863E0 0.377E0
+ 1414.509E0 0.790E0
+ 1425.208E0 0.963E0
+ 1421.384E0 1.006E0
+ 1442.962E0 1.115E0
+ 1464.350E0 1.572E0
+ 1468.705E0 1.841E0
+ 1447.894E0 2.047E0
+ 1457.628E0 2.200E0
diff --git a/data/problem-16-22106-pre.txt b/data/problem-16-22106-pre.txt
new file mode 100644
index 0000000..d278e91
--- /dev/null
+++ b/data/problem-16-22106-pre.txt
@@ -0,0 +1,150181 @@
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diff --git a/data/problem-6-1384-000.lsqp b/data/problem-6-1384-000.lsqp
new file mode 100644
index 0000000..ea78dfd
--- /dev/null
+++ b/data/problem-6-1384-000.lsqp
Binary files differ
diff --git a/docs/CMakeLists.txt b/docs/CMakeLists.txt
new file mode 100644
index 0000000..b21a472
--- /dev/null
+++ b/docs/CMakeLists.txt
@@ -0,0 +1,66 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2012 Google Inc. All rights reserved.
+# http://code.google.com/p/ceres-solver/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+# used to endorse or promote products derived from this software without
+# specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: arnaudgelas@gmail.com (Arnaud Gelas)
+
+FIND_PROGRAM(PYGMENTIZE NAMES pygmentize
+ PATHS
+ /usr/bin
+ /usr/local/bin
+ /opt/bin
+ /opt/local/bin)
+
+IF (${PYGMENTIZE} MATCHES PYGMENTIZE-NOTFOUND)
+ MESSAGE(SEND_ERROR "Pygmentize is not installed")
+ENDIF (${PYGMENTIZE} MATCHES PYGMENTIZE-NOTFOUND)
+
+FIND_PACKAGE(LATEX REQUIRED)
+
+FILE(DOWNLOAD http://minted.googlecode.com/files/minted.sty
+ ${CMAKE_BINARY_DIR}/docs/minted.sty
+ SHOW_PROGRESS)
+
+ADD_CUSTOM_TARGET(UserGuide ALL
+ COMMAND ${CMAKE_COMMAND} -E copy_directory
+ ${CMAKE_SOURCE_DIR}/docs ${CMAKE_BINARY_DIR}/docs
+ COMMAND ${PDFLATEX_COMPILER}
+ -shell-escape ${CMAKE_BINARY_DIR}/docs/ceres-solver.tex
+ -output-directory ${CMAKE_BINARY_DIR}/docs
+ WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/docs
+ COMMAND ${BIBTEX_COMPILER} ceres-solver.aux
+ COMMAND ${PDFLATEX_COMPILER}
+ -shell-escape ${CMAKE_BINARY_DIR}/docs/ceres-solver.tex
+ -output-directory ${CMAKE_BINARY_DIR}/docs
+ WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/docs
+ COMMAND ${PDFLATEX_COMPILER}
+ -shell-escape ${CMAKE_BINARY_DIR}/docs/ceres-solver.tex
+ -output-directory ${CMAKE_BINARY_DIR}/docs
+ WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/docs)
+
+INSTALL(FILES ${CMAKE_BINARY_DIR}/docs/ceres-solver.pdf
+ DESTINATION share/ceres/docs)
diff --git a/docs/build.tex b/docs/build.tex
new file mode 100644
index 0000000..05bceb4
--- /dev/null
+++ b/docs/build.tex
@@ -0,0 +1,321 @@
+%!TEX root = ceres-solver.tex
+\chapter{Building Ceres}
+\label{chapter:build}
+Ceres source code and documentation are hosted at
+\url{http://code.google.com/p/ceres-solver/}.
+
+\section{Dependencies}
+Ceres relies on a number of open source libraries, some of which are optional. For details on customizing the build process, please see Section~\ref{sec:custom}.
+
+\begin{enumerate}
+\item{\cmake~\footnote{\url{http://www.cmake.org/}}} is the cross-platform build system used by Ceres. We require that you have a relative recent install of \texttt{cmake} (version 2.8.0 or better).
+\item{\eigen~\footnote{\url{http://eigen.tuxfamily.org}}} is used for doing all the low level matrix and
+ linear algebra operations.
+
+\item{\glog~\footnote{\url{http://code.google.com/p/google-glog}}} is used for error checking and logging.
+
+ Note: Ceres requires \texttt{glog}\ version 0.3.1 or later. Version 0.3 (which ships with Fedora 16) has a namespace bug which prevents Ceres from building.
+
+\item{\gflags~\footnote{\url{http://code.google.com/p/gflags}}} is used by the code in
+ \texttt{examples}. It is also used by some of the tests. Strictly speaking it is not required to build the core library, \textbf{ we do not recommend building Ceres without \texttt{gflags}}.
+
+\item{\suitesparse~\footnote{\url{http://www.cise.ufl.edu/research/sparse/SuiteSparse/}}} is used for sparse matrix analysis,
+ ordering and factorization. In particular Ceres uses the
+ \amd, \colamd\ and \cholmod\ libraries. This is an optional
+ dependency.
+
+\item{\texttt{CXSparse}~\footnote{\url{http://www.cise.ufl.edu/research/sparse/CXSparse/}}} is used for sparse matrix analysis, ordering and factorization. While it is similar to \texttt{SuiteSparse} in scope, its performance is a bit worse but is a much simpler library to build and does not have any other dependencies. This is an optional dependency.
+
+\item{\blas\ and \lapack} are needed by
+ \suitesparse. We
+ recommend either
+ \texttt{GotoBlas2}~\footnote{\url{http://www.tacc.utexas.edu/tacc-projects/gotoblas2}}
+ or
+ \texttt{ATLAS}~\footnote{\url{http://math-atlas.sourceforge.net/}},
+ both of which ship with \blas\ and \lapack\ routines.
+
+\item{\texttt{protobuf}~\footnote{\url{http://code.google.com/p/protobuf/}}} is an optional dependency that is used for serializing and deserializing linear least squares problems to disk. This is useful for debugging and testing. Without it, some of the tests will be disabled.
+\end{enumerate}
+
+Currently we support building on Linux and MacOS X. Support for other
+platforms is forthcoming.
+
+\section{Building on Linux}
+We will use Ubuntu as our example platform.
+
+\begin{enumerate}
+\item{\cmake}
+\begin{minted}{bash}
+sudo apt-get install cmake
+\end{minted}
+
+\item{\gflags} can either be installed from source via the \texttt{autoconf} invocation
+\begin{minted}{bash}
+tar -xvzf gflags-2.0.tar.gz
+cd gflags-2.0
+./configure --prefix=/usr/local
+make
+sudo make install.
+\end{minted}
+or via the \texttt{deb} or \texttt{rpm} packages available on the \gflags\ website.
+
+\item{\glog} must be configured to use the previously installed
+\gflags, rather than the stripped down version that is bundled with \glog. Assuming you have it installed in \texttt{/usr/local} the following \texttt{autoconf} invocation installs it.
+\begin{minted}{bash}
+tar -xvzf glog-0.3.2.tar.gz
+cd glog-0.3.2
+./configure --with-gflags=/usr/local/
+make
+sudo make install
+\end{minted}
+
+\item{\eigen}
+\begin{minted}{bash}
+sudo apt-get install libeigen3-dev
+\end{minted}
+
+\item{\suitesparse\ and \texttt{CXSparse}}
+\begin{minted}{bash}
+sudo apt-get install libsuitesparse-dev
+\end{minted}
+This should automatically bring in the necessary \blas\ and \lapack\ dependencies. By co-incidence on Ubuntu, this also installs \texttt{CXSparse}.
+
+\item{\texttt{protobuf}}
+\begin{minted}{bash}
+sudo apt-get install libprotobuf-dev
+\end{minted}
+\end{enumerate}
+
+
+We are now ready to build and test Ceres. Note that \texttt{cmake} requires the exact path to the \texttt{libglog.a} and \texttt{libgflag.a}
+
+\begin{minted}{bash}
+tar zxf ceres-solver-1.2.1.tar.gz
+mkdir ceres-bin
+cd ceres-bin
+cmake ../ceres-solver-1.2.1
+make -j3
+make test
+\end{minted}
+
+You can also try running the command line bundling application with one of the
+included problems, which comes from the University of Washington's BAL dataset~\cite{Agarwal10bal}:
+\begin{minted}{bash}
+bin/simple_bundle_adjuster \
+ ../ceres-solver-1.2.1/data/problem-16-22106-pre.txt \
+\end{minted}
+This runs Ceres for a maximum of 10 iterations using the \denseschur\ linear solver. The output should look something like this.
+\clearpage
+\begin{minted}{bash}
+0: f: 1.598216e+06 d: 0.00e+00 g: 5.67e+18 h: 0.00e+00 rho: 0.00e+00 mu: 1.00e-04 li: 0
+1: f: 1.116401e+05 d: 1.49e+06 g: 1.42e+18 h: 5.48e+02 rho: 9.50e-01 mu: 3.33e-05 li: 1
+2: f: 4.923547e+04 d: 6.24e+04 g: 8.57e+17 h: 3.21e+02 rho: 6.79e-01 mu: 3.18e-05 li: 1
+3: f: 1.884538e+04 d: 3.04e+04 g: 1.45e+17 h: 1.25e+02 rho: 9.81e-01 mu: 1.06e-05 li: 1
+4: f: 1.807384e+04 d: 7.72e+02 g: 3.88e+16 h: 6.23e+01 rho: 9.57e-01 mu: 3.53e-06 li: 1
+5: f: 1.803397e+04 d: 3.99e+01 g: 1.35e+15 h: 1.16e+01 rho: 9.99e-01 mu: 1.18e-06 li: 1
+6: f: 1.803390e+04 d: 6.16e-02 g: 6.69e+12 h: 7.31e-01 rho: 1.00e+00 mu: 3.93e-07 li: 1
+
+Ceres Solver Report
+-------------------
+ Original Reduced
+Parameter blocks 22122 22122
+Parameters 66462 66462
+Residual blocks 83718 83718
+Residual 167436 167436
+
+ Given Used
+Linear solver DENSE_SCHUR DENSE_SCHUR
+Preconditioner N/A N/A
+Threads: 1 1
+Linear Solver Threads: 1 1
+
+Cost:
+Initial 1.598216e+06
+Final 1.803390e+04
+Change 1.580182e+06
+
+Number of iterations:
+Successful 6
+Unsuccessful 0
+Total 6
+
+Time (in seconds):
+Preprocessor 0.000000e+00
+Minimizer 2.000000e+00
+Total 2.000000e+00
+Termination: FUNCTION_TOLERANCE
+\end{minted}
+
+\section{Building on OS X}
+On OS X, we recommend using the \texttt{homebrew}~\footnote{\url{http://mxcl.github.com/homebrew/}} package manager.
+
+\begin{enumerate}
+\item{\cmake}
+\begin{minted}{bash}
+brew install cmake
+\end{minted}
+\item{\texttt{glog}\ and \texttt{gflags}}
+
+Installing \texttt{\glog} takes also brings in \texttt{gflags} as a dependency.
+\begin{minted}{bash}
+brew install glog
+\end{minted}
+\item{\eigen}
+\begin{minted}{bash}
+brew install eigen
+\end{minted}
+\item{\suitesparse\ and \texttt{CXSparse}}
+\begin{minted}{bash}
+brew install suite-sparse
+\end{minted}
+\item{\texttt{protobuf}}
+\begin{minted}{bash}
+brew install protobuf
+\end{minted}
+\end{enumerate}
+
+We are now ready to build and test Ceres.
+\begin{minted}{bash}
+tar zxf ceres-solver-1.2.1.tar.gz
+mkdir ceres-bin
+cd ceres-bin
+cmake ../ceres-solver-1.2.1
+make -j3
+make test
+\end{minted}
+Like the Linux build, you should now be able to run \texttt{bin/simple\_bundle\_adjuster}.
+
+
+\section{Building on Windows with Visual Studio}
+On Windows, we support building with Visual Studio 2010 or newer. Note that the
+Windows port is less featureful and less tested than the Linux or Mac OS X
+versions due to the unavaliability of SuiteSparse and CXSparse. Building is
+also more involved since there is no automated way to install the dependencies.
+
+\begin{enumerate}
+ \item Make a toplevel directory for deps \& build \& src somewhere: \texttt{ceres/}
+ \item Get dependencies; unpack them as subdirectories in \texttt{ceres/}
+ (\texttt{ceres/eigen}, \texttt{ceres/glog}, etc)
+ \begin{itemize}
+ \item Eigen 3.1 from eigen.tuxfamily.org (needed on Windows; 3.0.x will not
+ work). There is no need to build anything; just unpack the source
+ tarball.
+ \item Goolge Log. Open up the Visual Studio solution and build it.
+ \item Goolge Flags. Open up the Visual Studio solution and build it.
+ \end{itemize}
+ \item Unpack the Ceres tarball into \texttt{ceres}. For the tarball, you
+ should get a directory inside \texttt{ceres} similar to
+ \texttt{ceres-solver-1.3.0}. Alternately, checkout Ceres via git to get
+ \texttt{ceres-solver.git} inside \texttt{ceres}.
+ \item Install CMake.
+ \item Make a dir \texttt{ceres/ceres-bin} (for an out-of-tree build)
+ \item Run CMake; select the \texttt{ceres-solver-X.Y.Z} or
+ \texttt{ceres-solver.git} directory for the CMake file. Then select the
+ \texttt{ceres-bin} for the build dir.
+ \item Try running "Configure". It won't work. It'll show a bunch of options.
+ You'll need to set:
+ \begin{itemize}
+ \item \texttt{GLOG\_INCLUDE}
+ \item \texttt{GLOG\_LIB}
+ \item \texttt{GFLAGS\_LIB}
+ \item \texttt{GFLAGS\_INCLUDE}
+ \end{itemize}
+ to the appropriate place where you unpacked/built them.
+ \item You may have to tweak some more settings to generate a MSVC project.
+ After each adjustment, try pressing Configure \& Generate until it
+ generates successfully.
+ \item Open the solution and build it in MSVC
+\end{enumerate}
+
+To run the tests, select the \texttt{RUN\_TESTS} target and hit "Build RUN\_TESTS" from the build menu.
+
+Like the Linux build, you should now be able to run \texttt{bin/simple\_bundle\_adjuster}.
+
+Notes:
+\begin{itemize}
+\item The default build is Debug; consider switching it to release mode.
+\item Currently \texttt{system\_test} is not working properly.
+\item Building Ceres as a DLL is not supported; patches welcome.
+\item CMake puts the resulting test binaries in ceres-bin/examples/Debug by
+ default.
+\item The solvers supported on Windows are \texttt{DENSE\_QR},
+ \texttt{DENSE\_SCHUR}, \texttt{CGNR}, and \texttt{ITERATIVE\_SCHUR}.
+\item We're looking for someone to work with upstream SuiteSparse to port their
+ build system to something sane like CMake, and get a supported Windows
+ port.
+\end{itemize}
+
+\section{Building on Android}
+\label{sec:android}
+Download the Android NDK. Run \texttt{ndk-build} from inside the \texttt{jni} directory. Use the \texttt{libceres.a} that gets created.
+
+TODO(keir): Expand this section further.
+
+\section{Compiler Flags to use when building your own applications}
+\label{sec:compiler-flags}
+TBD
+
+
+\section{Customizing the Build Process}
+\label{sec:custom}
+It is possible to reduce the libraries needed to build Ceres and
+customize the build process by passing appropriate flags to \texttt{cmake}. But unless you really know what you are
+doing, we recommend against disabling any of the following flags.
+
+\begin{enumerate}
+\item{\texttt{protobuf}}
+
+
+Protocol Buffers is a big dependency and if you do not care for the tests that depend on it and the logging support it enables, you can turn it off by using
+\begin{minted}{bash}
+-DPROTOBUF=OFF.
+\end{minted}
+
+\item{\suitesparse}
+
+By default, Ceres will only link to \texttt{SuiteSparse}\ if all its dependencies are present.
+To build Ceres without \suitesparse\ use
+\begin{minted}{bash}
+-DSUITESPARSE=OFF.
+\end{minted}
+ This will also disable dependency checking for \lapack\ and \blas. This saves on binary size, but the resulting version of Ceres is not suited
+to large scale problems due to the lack of a sparse Cholesky solver. This will reduce Ceres' dependencies down to
+\eigen, \gflags\ and \glog.
+
+\item{\texttt{CXSparse}}
+
+By default, Ceres will only link to \texttt{CXSparse} if all its dependencies are present.
+To build Ceres without \suitesparse\ use
+\begin{minted}{bash}
+-DCXSPARSE=OFF.
+\end{minted}
+
+This saves on binary size, but the resulting version of Ceres is not suited to large scale problems due to the lack of a sparse Cholesky solver. This will reduce Ceres' dependencies down to
+\eigen, \gflags\ and \glog.
+
+\item{\gflags}
+To build Ceres without \gflags, use
+\begin{minted}{bash}
+-DGFLAGS=OFF.
+\end{minted}
+Disabling this flag will prevent some of the example code from building.
+
+\item{Template Specializations}
+
+
+If you are concerned about binary size/compilation time over some
+small (10-20\%) performance gains in the \sparseschur\ solver, you can disable some of the template
+specializations by using
+\begin{minted}{bash}
+-DSCHUR_SPECIALIZATIONS=OFF.
+\end{minted}
+
+\item{\texttt{OpenMP}}
+
+
+On certain platforms like Android, multithreading with OpenMP is not supported. OpenMP support can be disabled by using
+\begin{minted}{bash}
+-DOPENMP=OFF.
+\end{minted}
+\end{enumerate}
+
diff --git a/docs/bundleadjustment.tex b/docs/bundleadjustment.tex
new file mode 100644
index 0000000..ac260a0
--- /dev/null
+++ b/docs/bundleadjustment.tex
@@ -0,0 +1,102 @@
+%!TEX root = ceres-solver.tex
+\chapter{Bundle Adjustment}
+\label{chapter:tutorial:bundleadjustment}
+One of the main reasons for writing Ceres was our need to solve large scale bundle adjustment problems~\cite{hartley-zisserman-book-2004,triggs-etal-1999}.
+
+Given a set of measured image feature locations and correspondences, the goal of bundle adjustment is to find 3D point positions and camera parameters that minimize the reprojection error. This optimization problem is usually formulated as a non-linear least squares problem, where the error is the squared $L_2$ norm of the difference between the observed feature location and the projection of the corresponding 3D point on the image plane of the camera. Ceres has extensive support for solving bundle adjustment problems.
+
+Let us consider the solution of a problem from the BAL~\cite{Agarwal10bal} dataset~\footnote{The code for this example can be found in \texttt{examples/simple\_bundle\_adjuster.cc}.}.
+
+The first step as usual is to define a templated functor that computes the reprojection error/residual. The structure of the functor is similar to the \texttt{ExponentialResidual}, in that there is an instance of this object responsible for each image observation.
+
+
+Each residual in a BAL problem depends on a three dimensional point and a nine parameter
+camera. The nine parameters defining the camera can are: Three for rotation as a Rodriquez axis-angle vector, three for translation, one for focal length and two for radial distortion. The details of this camera model can be found on Noah
+Snavely's Bundler
+homepage~\footnote{\url{http://phototour.cs.washington.edu/bundler/}}
+and the BAL
+homepage~\footnote{\url{http://grail.cs.washington.edu/projects/bal/}}.
+
+
+%\begin{listing}[ht]
+\clearpage
+\begin{minted}[mathescape]{c++}
+struct SnavelyReprojectionError {
+ SnavelyReprojectionError(double observed_x, double observed_y)
+ : observed_x(observed_x), observed_y(observed_y) {}
+ template <typename T>
+ bool operator()(const T* const camera,
+ const T* const point,
+ T* residuals) const {
+ // camera[0,1,2] are the angle-axis rotation.
+ T p[3];
+ ceres::AngleAxisRotatePoint(camera, point, p);
+ // camera[3,4,5] are the translation.
+ p[0] += camera[3]; p[1] += camera[4]; p[2] += camera[5];
+
+ // Compute the center of distortion. The sign change comes from
+ // the camera model that Noah Snavely's Bundler assumes, whereby
+ // the camera coordinate system has a negative z axis.
+ T xp = - p[0] / p[2];
+ T yp = - p[1] / p[2];
+
+ // Apply second and fourth order radial distortion.
+ const T& l1 = camera[7];
+ const T& l2 = camera[8];
+ T r2 = xp*xp + yp*yp;
+ T distortion = T(1.0) + r2 * (l1 + l2 * r2);
+
+ // Compute final projected point position.
+ const T& focal = camera[6];
+ T predicted_x = focal * distortion * xp;
+ T predicted_y = focal * distortion * yp;
+
+ // The error is the difference between the predicted and observed position.
+ residuals[0] = predicted_x - T(observed_x);
+ residuals[1] = predicted_y - T(observed_y);
+ return true;
+ }
+ double observed_x;
+ double observed_y;
+};
+\end{minted}
+
+Note that unlike the
+examples before this is a non-trivial function and computing its
+analytic Jacobian is a bit of a pain. Automatic differentiation makes
+our life very simple here. The function \texttt{AngleAxisRotatePoint} and other functions for manipulating rotations can be found in \texttt{include/ceres/rotation.h}.
+
+Given this functor, the bundle adjustment problem can be constructed as follows:
+\begin{minted}{c++}
+// Create residuals for each observation in the bundle adjustment problem. The
+// parameters for cameras and points are added automatically.
+ceres::Problem problem;
+for (int i = 0; i < bal_problem.num_observations(); ++i) {
+ // Each Residual block takes a point and a camera as input and outputs a 2
+ // dimensional residual. Internally, the cost function stores the observed
+ // image location and compares the reprojection against the observation.
+ ceres::CostFunction* cost_function =
+ new ceres::AutoDiffCostFunction<SnavelyReprojectionError, 2, 9, 3>(
+ new SnavelyReprojectionError(
+ bal_problem.observations()[2 * i + 0],
+ bal_problem.observations()[2 * i + 1]));
+ problem.AddResidualBlock(cost_function,
+ NULL /* squared loss */,
+ bal_problem.mutable_camera_for_observation(i),
+ bal_problem.mutable_point_for_observation(i));
+}
+\end{minted}
+Again note that that the problem construction for bundle adjustment is very similar to the curve fitting example.
+
+One way to solve this problem is to set \texttt{Solver::Options::linear\_solver\_type} to \texttt{SPARSE\_NORMAL\_CHOLESKY} and call \texttt{Solve}. And while this is a reasonable thing to do, bundle adjustment problems have a special sparsity structure that can be exploited to solve them much more efficiently. Ceres provides three specialized solvers (collectively known as Schur based solvers) for this task. The example code uses the simplest of them \texttt{DENSE\_SCHUR}.
+\begin{minted}{c++}
+ceres::Solver::Options options;
+options.linear_solver_type = ceres::DENSE_SCHUR;
+options.minimizer_progress_to_stdout = true;
+ceres::Solver::Summary summary;
+ceres::Solve(options, &problem, &summary);
+std::cout << summary.FullReport() << "\n";
+\end{minted}
+
+For a more sophisticated bundle adjustment example which demonstrates the use of Ceres' more advanced features including its various linear solvers, robust loss functions and local parameterizations see \texttt{examples/bundle\_adjuster.cc}.
+
diff --git a/docs/ceres-solver.bib b/docs/ceres-solver.bib
new file mode 100644
index 0000000..1bb1996
--- /dev/null
+++ b/docs/ceres-solver.bib
@@ -0,0 +1,264 @@
+@article{ruhe-wedin,
+ title={Algorithms for separable nonlinear least squares problems},
+ author={Ruhe, A. and Wedin, P.{\AA}.},
+ journal={Siam Review},
+ volume={22},
+ number={3},
+ pages={318--337},
+ year={1980},
+ publisher={SIAM}
+}
+@article{golub-pereyra-73,
+ title={The differentiation of pseudo-inverses and nonlinear least squares problems whose variables separate},
+ author={Golub, G.H. and Pereyra, V.},
+ journal={SIAM Journal on numerical analysis},
+ volume={10},
+ number={2},
+ pages={413--432},
+ year={1973},
+ publisher={SIAM}
+}
+
+@inproceedings{wiberg,
+ title={Computation of principal components when data are missing},
+ author={Wiberg, T.},
+ booktitle={Proc. Second Symp. Computational Statistics},
+ pages={229--236},
+ year={1976}
+}
+@book{conn2000trust,
+ title={Trust-region methods},
+ author={Conn, A.R. and Gould, N.I.M. and Toint, P.L.},
+ volume={1},
+ year={2000},
+ publisher={Society for Industrial Mathematics}
+}
+@article{byrd1988approximate,
+ title={Approximate solution of the trust region problem by minimization over two-dimensional subspaces},
+ author={Byrd, R.H. and Schnabel, R.B. and Shultz, G.A.},
+ journal={Mathematical programming},
+ volume={40},
+ number={1},
+ pages={247--263},
+ year={1988},
+ publisher={Springer}
+}
+@article{stigler1981gauss,
+ title={Gauss and the invention of least squares},
+ author={Stigler, S.M.},
+ journal={The Annals of Statistics},
+ volume={9},
+ number={3},
+ pages={465--474},
+ year={1981},
+ publisher={Institute of Mathematical Statistics}
+}
+
+@inproceedings{kushal2012,
+ title={Visibility Based Preconditioning for Bundle Adjustment},
+ author={Kushal, A. and Agarwal, S.},
+ booktitle={Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition},
+ year={2012},
+}
+
+@article{nash1990assessing,
+ title={Assessing a search direction within a truncated-Newton method},
+ author={Nash, S.G. and Sofer, A.},
+ journal={Operations Research Letters},
+ volume={9},
+ number={4},
+ pages={219--221},
+ year={1990}
+}
+
+@inproceedings{wu2011multicore,
+ title={Multicore bundle adjustment},
+ author={Wu, C. and Agarwal, S. and Curless, B. and Seitz, S.M.},
+ booktitle={Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition},
+ pages={3057--3064},
+ year={2011},
+}
+
+@inproceedings{Agarwal10bal,
+ author = {Agarwal, S. and Snavely, N. and Seitz, S. M. and Szeliski, R.},
+ title = {Bundle adjustment in the large},
+booktitle = {Proceedings of the European Conference on Computer Vision},
+ year = {2010},
+ pages = {29--42},
+}
+
+@article{li2007miqr,
+ title={MIQR: A multilevel incomplete QR preconditioner for large sparse least-squares problems},
+ author={Li, Na and Saad, Y.},
+ journal={SIAM Journal on Matrix Analysis and Applications},
+ volume={28},
+ number={2},
+ pages={524--550},
+ year={2007},
+ publisher={Society for Industrial and Applied Mathematics}
+}
+
+@article{wright1985inexact,
+ Author = {Wright, S. J. and Holt, J. N.},
+ Journal = {Journal of the Australian Mathematical Society Series B},
+ Pages = "387--403",
+ Title = {{An Inexact Levenberg-Marquardt Method for Large Sparse Nonlinear Least Squares}},
+ Volume = 26,
+ Number = 4,
+ Year = 1985
+}
+
+@article{elsner1984note,
+ Author = {Elsner, L.},
+ Journal = {Numer. Math.},
+ Number = {1},
+ Pages = {127--128},
+ Publisher = {Springer},
+ Title = {{A note on optimal block-scaling of matrices}},
+ Volume = {44},
+ Year = {1984}}
+
+@article{hestenes1952methods,
+ Author = {Hestenes, M.R. and Stiefel, E.},
+ Journal = {Journal of research of the National Bureau of Standards},
+ Number = {6},
+ Pages = {409--436},
+ Title = {{Methods of conjugate gradients for solving linear systems}},
+ Volume = {49},
+ Year = {1952}}
+
+@book{mathew2008domain,
+ Author = {Mathew, T.P.A.},
+ Publisher = {Springer Verlag},
+ Title = {{Domain decomposition methods for the numerical solution of partial differential equations}},
+ Year = {2008}}
+
+@book{smith2004domain,
+ Author = {Smith, B.F. and Bjorstad, P.E. and Gropp, W.},
+ Publisher = {Cambridge University Press},
+ Title = {{Domain decomposition}},
+ Year = {2004}}
+
+@article{demmel1983condition,
+ Author = {Demmel, J.},
+ Journal = {SINUM},
+ Number = {3},
+ Pages = {599--610},
+ Title = {{The condition number of equivalence transformations that block diagonalize matrix pencils}},
+ Volume = {20},
+ Year = {1983}}
+
+@article{eisenstat1982optimal,
+ Author = {Eisenstat, S.C. and Lewis, J.W. and Schultz, M.H.},
+ Journal = {Linear Algebra Appl.},
+ Pages = {181--186},
+ Title = {{Optimal Block Diagonal Scaling of Block 2-Cyclic Matrices.}},
+ Volume = {44},
+ Year = {1982}}
+
+@article{mandel1990block,
+ Author = {Mandel, J.},
+ Journal = {Numer. Math.},
+ Number = {1},
+ Pages = {79--93},
+ Publisher = {Springer},
+ Title = {{On block diagonal and Schur complement preconditioning}},
+ Volume = {58},
+ Year = {1990}}
+
+@book{davis2006direct,
+ Author = {Davis, T.A.},
+ Publisher = {SIAM},
+ Title = {{Direct methods for sparse linear systems}},
+ Year = {2006}}
+
+@TechReport{brown-58,
+ author = {D. C. Brown},
+ title = {A solution to the general problem of multiple station analytical stereo triangulation},
+ institution = {Patrick Airforce Base},
+ year = {1958},
+ Tkey = {AFMTC TR 58-8},
+ number = {43},
+ address = {Florida},
+}
+
+@book{hartley-zisserman-book-2004,
+ Author = {Hartley, R.~I. and Zisserman, A.},
+ Publisher = {Cambridge University Press},
+ Title = {Multiple View Geometry in Computer Vision},
+ Year = {2003}}
+
+
+@book{trefethen1997numerical,
+ Author = {Trefethen, L.N. and Bau, D.},
+ Publisher = {SIAM},
+ Title = {{Numerical Linear Algebra}},
+ Year = {1997}}
+
+@book{saad2003iterative,
+ Author = {Saad, Y.},
+ Publisher = {SIAM},
+ Title = {{Iterative methods for sparse linear systems}},
+ Year = {2003}}
+
+
+@book{nocedal2000numerical,
+ Author = {Nocedal, J. and Wright, S. J.},
+ Publisher = {Springer},
+ Title = {{Numerical Optimization}},
+ Year = {2000}}
+
+@book{bjorck1996numerical,
+ Author = {Bj{\"o}rck, A.},
+ Publisher = {SIAM},
+ Title = {{Numerical methods for least squares problems}},
+ Year = {1996}}
+
+@book{madsen2004methods,
+ Author = {Madsen, K. and Nielsen, H.B. and Tingleff, O.},
+ Title = {{Methods for non-linear least squares problems}},
+ Year = {2004}}
+
+
+@article{marquardt1963algorithm,
+ Author = {Marquardt, D.W.},
+ Journal = {J. SIAM},
+ Number = {2},
+ Pages = {431--441},
+ Publisher = {SIAM},
+ Title = {{An algorithm for least-squares estimation of nonlinear parameters}},
+ Volume = {11},
+ Year = {1963}}
+
+@article{levenberg1944method,
+ Author = {Levenberg, K.},
+ Journal = {Quart. Appl. Math},
+ Number = {2},
+ Pages = {164--168},
+ Title = {{A method for the solution of certain nonlinear problems in least squares}},
+ Volume = {2},
+ Year = {1944}}
+
+@article{chen2006acs,
+ Article = {22},
+ Author = {Chen, Y. and Davis, T. A. and Hager, W. W. and Rajamanickam, S.},
+ Journal = {TOMS},
+ Number = {3},
+ Title = {{Algorithm 887: CHOLMOD, Supernodal Sparse {Cholesky} Factorization and Update/Downdate}},
+ Volume = {35},
+ Year = {2008}}
+
+
+@inproceedings{triggs-etal-1999,
+ Author = {Triggs, B. and McLauchlan, P. F. and Hartley, R. I. and Fitzgibbon, A. W.},
+ Booktitle = {Vision Algorithms},
+ Pages = {298-372},
+ Title = {{Bundle Adjustment - A Modern Synthesis}},
+ Year = {1999}}
+
+
+@article{tennenbaum-director,
+Author = {Tennenbaum, J. and Director, B.},
+Title = {{How Gauss Determined the Orbit of Ceres}}
+}
+
diff --git a/docs/ceres-solver.pdf b/docs/ceres-solver.pdf
new file mode 100644
index 0000000..8f9618c
--- /dev/null
+++ b/docs/ceres-solver.pdf
Binary files differ
diff --git a/docs/ceres-solver.tex b/docs/ceres-solver.tex
new file mode 100644
index 0000000..cf5e52d
--- /dev/null
+++ b/docs/ceres-solver.tex
@@ -0,0 +1,132 @@
+%%% Build instructions
+%%% pdflatex -shell-escape ceres && bibtex ceres && pdflatex -shell-escape ceres && pdflatex -shell-escape ceres
+
+\documentclass[11pt,letterpaper,oneside]{memoir}
+\usepackage{fouriernc}
+\usepackage[T1]{fontenc}
+\usepackage{minted,amsmath,amssymb,amsthm,url,booktabs}
+\usepackage[pdftex]{graphicx}
+\usepackage[sort&compress]{natbib}
+\usepackage[breaklinks=true,letterpaper=true,colorlinks,bookmarks=false]{hyperref}
+\usepackage{algorithm}
+\usepackage{algorithmic}
+
+% page dimensions
+\addtolength{\textwidth}{1.5in}
+\addtolength{\oddsidemargin}{-0.75in}
+\addtolength{\evensidemargin}{-0.75in}
+\addtolength{\spinemargin}{-0.75in}
+\addtolength{\foremargin}{-0.75in}
+\setlength{\parindent}{0.0in}
+\setlength{\parskip}{0.12in}
+
+% Our pagestyle
+\copypagestyle{ceres}{headings}
+\makeevenhead{ceres}{\thepage}{}{\scshape\rightmark}
+\makeoddhead{ceres}{\scshape\rightmark}{}{\thepage}
+
+%% ceres chapter style
+\makechapterstyle{ceres}{%
+\renewcommand{\chapterheadstart}{}%
+\renewcommand{\printchaptername}{}%
+\renewcommand{\chapternamenum}{}%
+\renewcommand{\printchapternum}{}%
+\renewcommand{\afterchapternum}{}%
+\renewcommand{\printchaptertitle}[1]{%
+\raggedright\Large\scshape\MakeLowercase{##1}}%
+\renewcommand{\afterchaptertitle}{%
+\vskip\onelineskip \hrule\vskip\onelineskip}%
+}%
+\renewcommand{\cftchapterfont}{\normalfont}%
+\renewcommand{\cftchapterpagefont}{\normalfont}%
+\renewcommand{\cftchapterpresnum}{\bfseries}%
+\renewcommand{\cftchapterleader}{}%
+\renewcommand{\cftchapterafterpnum}{\cftparfillskip}%
+
+
+%% Section title style
+\setsecheadstyle{\raggedright\scshape\MakeLowercase}%
+\setbeforesecskip{-\onelineskip}%
+\setaftersecskip{\onelineskip}%
+
+%% Subsection title style
+
+\setsubsecheadstyle{\sethangfrom{\noindent ##1}\raggedright\itshape}%
+\setbeforesubsecskip{-\onelineskip}%
+\setaftersubsecskip{\onelineskip}%
+
+\captiontitlefont{\small\sffamily}%
+\let\caption\legend
+
+
+\title{\Huge\scshape
+\MakeLowercase{Ceres Solver: Tutorial \& Reference}
+}
+\author{
+\scshape\MakeLowercase{Sameer Agarwal} \\ \texttt{sameeragarwal@google.com}
+\and
+\scshape\MakeLowercase{Keir Mierle} \\ \texttt{ keir@google.com}
+}
+\checkandfixthelayout
+
+\pagestyle{ceres}
+
+\newcommand{\ceres}{{Ceres }}
+\newcommand{\reals}{\mathbb{R} }
+\def\eg{\emph{e.g. }}
+\def\ie{\emph{i.e. }}
+\newcommand{\glog}{\texttt{google-glog}}
+\newcommand{\gflags}{\texttt{gflags}}
+\newcommand{\eigen}{\texttt{Eigen3}}
+\newcommand{\suitesparse}{\texttt{SuiteSparse}}
+\newcommand{\cholmod}{\texttt{CHOLMOD}}
+\newcommand{\amd}{\texttt{AMD}}
+\newcommand{\colamd}{\texttt{COLAMD}}
+\newcommand{\lapack}{\texttt{LAPACK}}
+\newcommand{\blas}{\texttt{BLAS}}
+\newcommand{\denseschur}{\texttt{DENSE\_SCHUR}}
+\newcommand{\sparseschur}{\texttt{SPARSE\_SCHUR}}
+\newcommand{\iterativeschur}{\texttt{ITERATIVE\_SCHUR}}
+\newcommand{\cmake}{\texttt{cmake}}
+\newcommand{\protobuf}{\texttt{protobuf}}
+\settocdepth{chapter}
+
+\begin{document}
+\chapterstyle{ceres}
+\maketitle
+\thispagestyle{empty}
+\newpage
+\pagestyle{ceres}
+\tableofcontents
+\newpage
+
+\chapter{A Note to the Reader}
+Building this pdf from source requires a relatively recent installation of \texttt{LaTeX}~\footnote{\url{http://www.tug.org/texlive/}}, \texttt{minted.sty}\footnote{\url{http://code.google.com/p/minted/}} and \texttt{pygments}\footnote{\url{http://pygments.org/}}.
+
+Despite our best efforts, this manual remains a work in progress and the source code for Ceres Solver remains the ultimate reference.
+
+\input{changes}
+\input{introduction}
+\input{build}
+
+%% Tutorial
+\part{Tutorial}
+\label{part:tutorial}
+\input{nnlsq}
+\input{helloworld}
+\input{powell}
+\input{curvefitting}
+\input{bundleadjustment}
+
+%% Reference
+\part{Reference}
+\label{part:reference}
+\input{reference-overview}
+\input{modeling}
+\input{solving}
+
+\input{faq}
+\input{further}
+\bibliographystyle{plain}
+\bibliography{ceres-solver}
+\end{document}
diff --git a/docs/changes.tex b/docs/changes.tex
new file mode 100644
index 0000000..159340a
--- /dev/null
+++ b/docs/changes.tex
@@ -0,0 +1,249 @@
+%!TEX root = ceres-solver.tex
+
+\chapter{Version History}
+\section*{1.4.0}
+\subsection{API Changes}
+The new ordering API breaks existing code. Here the common case fixes.
+\subsubsection{Before}
+\begin{minted}[mathescape]{c++}
+options.linear_solver_type = ceres::DENSE_SCHUR
+options.ordering_type = ceres::SCHUR
+\end{minted}
+\subsubsection{After}
+\begin{minted}[mathescape]{c++}
+options.linear_solver_type = ceres::DENSE_SCHUR
+\end{minted}
+\subsubsection{Before}
+\begin{minted}[mathescape]{c++}
+options.linear_solver_type = ceres::DENSE_SCHUR;
+options.ordering_type = ceres::USER;
+for (int i = 0; i < num_points; ++i) {
+ options.ordering.push_back(my_points[i])
+}
+for (int i = 0; i < num_cameras; ++i) {
+ options.ordering.push_back(my_cameras[i])
+}
+options.num_eliminate_blocks = num_points;
+\end{minted}
+\subsubsection{After}
+\begin{minted}[mathescape]{c++}
+options.linear_solver_type = ceres::DENSE_SCHUR;
+options.ordering = new ceres::ParameterBlockOrdering;
+for (int i = 0; i < num_points; ++i) {
+ options.linear_solver_ordering->AddElementToGroup(my_points[i], 0);
+}
+for (int i = 0; i < num_cameras; ++i) {
+ options.linear_solver_ordering->AddElementToGroup(my_cameras[i], 1);
+}
+\end{minted}
+\subsection{New Features}
+\begin{itemize}
+\item A new richer, more expressive and consistent API for ordering
+ parameter blocks.
+\item A non-linear generalization of Ruhe \& Wedin's Algorithm
+ II. This allows the user to use variable projection on separable and
+ non-separable non-linear least squares problems. With
+ multithreading, this results in significant improvements to the
+ convergence behavior of the solver at a small increase in run time.
+\item An image denoising example using fields of experts. (Petter
+ Strandmark)
+\item Defines for Ceres version and ABI version.
+\item Higher precision timer code where available. (Petter Strandmark)
+\item Example Makefile for users of Ceres.
+\item IterationSummary now informs the user when the step is a
+ non-monotonic step.
+\item Fewer memory allocations when using \texttt{DenseQRSolver}.
+\item GradientChecker for testing CostFunctions (William Rucklidge)
+\item Add support for cost functions with 10 parameter blocks in
+ Problem. (Fisher)
+\item Add support for 10 parameter blocks in AutoDiffCostFunction.
+\end{itemize}
+
+\subsection{Bug Fixes}
+\begin{itemize}
+\item static cast to force Eigen::Index to long conversion
+\item Change LOG(ERROR) to LOG(WARNING) in \texttt{schur\_complement\_solver.cc}.
+\item Remove verbose logging from \texttt{DenseQRSolve}.
+\item Fix the Android NDK build.
+\item Better handling of empty and constant Problems.
+\item Remove an internal header that was leaking into the public API.
+\item Memory leak in \texttt{trust\_region\_minimizer.cc}
+\item Schur ordering was operating on the wrong object (Ricardo Martin)
+\item MSVC fixes (Petter Strandmark)
+\item Various fixes to \texttt{nist.cc} (Markus Moll)
+\item Fixed a jacobian scaling bug.
+\item Numerically robust computation of \texttt{model\_cost\_change}.
+\item Signed comparison compiler warning fixes (Ricardo Martin)
+\item Various compiler warning fixes all over.
+\item Inclusion guard fixes (Petter Strandmark)
+\item Segfault in test code (Sergey Popov)
+\item Replaced EXPECT/ASSERT\_DEATH with the more portable
+ EXPECT\_DEATH\_IF\_SUPPORTED macros.
+\item Fixed the camera projection model in Ceres' implementation of
+ Snavely's camera model. (Ricardo Martin)
+\end{itemize}
+
+
+\section*{1.3.0}
+\subsection{New Features}
+\begin{itemize}
+\item Android Port (Scott Ettinger also contributed to the port)
+\item Windows port. (Changchang Wu and Pierre Moulon also contributed to the port)
+\item New subspace Dogleg Solver. (Markus Moll)
+\item Trust region algorithm now supports the option of non-monotonic steps.
+\item New loss functions \texttt{ArcTanLossFunction,
+ TolerantLossFunction} and \texttt{ComposedLossFunction}. (James Roseborough).
+\item New \texttt{DENSE\_NORMAL\_CHOLESKY} linear solver, which uses Eigen's
+ LDLT factorization on the normal equations.
+\item Cached symbolic factorization when using \texttt{CXSparse}.
+ (Petter Strandark)
+\item New example \texttt{nist.cc} and data from the NIST non-linear
+ regression test suite. (Thanks to Douglas Bates for suggesting this.)
+\item The traditional Dogleg solver now uses an elliptical trust
+ region (Markus Moll)
+\item Support for returning initial and final gradients \& Jacobians.
+\item Gradient computation support in the evaluators, with an eye
+ towards developing first order/gradient based solvers.
+\item A better way to compute \texttt{Solver::Summary::fixed\_cost}. (Markus Moll)
+\item \texttt{CMake} support for building documentation, separate examples,
+ installing and uninstalling the library and Gerrit hooks (Arnaud
+ Gelas)
+\item \texttt{SuiteSparse4} support (Markus Moll)
+\item Support for building Ceres without \texttt{TR1} (This leads to
+ slightly slower \texttt{DENSE\_SCHUR} and \texttt{SPARSE\_SCHUR} solvers).
+\item \texttt{BALProblem} can now write a problem back to disk.
+\item \texttt{bundle\_adjuster} now allows the user to normalize and perturb the
+ problem before solving.
+\item Solver progress logging to file.
+\item Added \texttt{Program::ToString} and
+ \texttt{ParameterBlock::ToString} to help with debugging.
+\item Ability to build Ceres as a shared library (MacOS and Linux only), associated versioning and build release script changes.
+\item Portable floating point classification API.
+\end{itemize}
+
+\subsection{Bug Fixes}
+\begin{itemize}
+\item Fix how invalid step evaluations are handled.
+\item Change the slop handling around zero for model cost changes to use
+relative tolerances rather than absolute tolerances.
+\item Fix an inadvertant integer to bool conversion. (Petter Strandmark)
+\item Do not link to \texttt{libgomp} when building on
+ windows. (Petter Strandmark)
+\item Include \texttt{gflags.h} in \texttt{test\_utils.cc}. (Petter
+ Strandmark)
+\item Use standard random number generation routines. (Petter Strandmark)
+\item \texttt{TrustRegionMinimizer} does not implicitly negate the
+ steps that it takes. (Markus Moll)
+\item Diagonal scaling allows for equal upper and lower bounds. (Markus Moll)
+\item TrustRegionStrategy does not misuse LinearSolver:Summary anymore.
+\item Fix Eigen3 Row/Column Major storage issue. (Lena Gieseke)
+\item QuaternionToAngleAxis now guarantees an angle in $[-\pi, \pi]$. (Guoxuan Zhang)
+\item Added a workaround for a compiler bug in the Android NDK to the
+ Schur eliminator.
+\item The sparse linear algebra library is only logged in
+ Summary::FullReport if it is used.
+\item Rename the macro \texttt{CERES\_DONT\_HAVE\_PROTOCOL\_BUFFERS}
+ to \texttt{CERES\_NO\_PROTOCOL\_BUFFERS} for consistency.
+\item Fix how static structure detection for the Schur eliminator logs
+ its results.
+\item Correct example code in the documentation. (Petter Strandmark)
+\item Fix \texttt{fpclassify.h} to work with the Android NDK and STLport.
+\item Fix a memory leak in the \texttt{levenber\_marquardt\_strategy\_test.cc}
+\item Fix an early return bug in the Dogleg solver. (Markus Moll)
+\item Zero initialize Jets.
+\item Moved \texttt{internal/ceres/mock\_log.h} to \texttt{internal/ceres/gmock/mock-log.h}
+\item Unified file path handling in tests.
+\item \texttt{data\_fitting.cc} includes \texttt{gflags}
+\item Renamed Ceres' Mutex class and associated macros to avoid
+ namespace conflicts.
+\item Close the BAL problem file after reading it (Markus Moll)
+\item Fix IsInfinite on Jets.
+\item Drop alignment requirements for Jets.
+\item Fixed Jet to integer comparison. (Keith Leung)
+\item Fix use of uninitialized arrays. (Sebastian Koch \& Markus Moll)
+\item Conditionally compile gflag dependencies.(Casey Goodlett)
+\item Add \texttt{data\_fitting.cc } to the examples \texttt{CMake} file.
+\end{itemize}
+
+\section*{1.2.3}
+\subsection{Bug Fixes}
+\begin{itemize}
+\item \texttt{suitesparse\_test} is enabled even when \texttt{-DSUITESPARSE=OFF}.
+\item \texttt{FixedArray} internal struct did not respect \texttt{Eigen}
+ alignment requirements (Koichi Akabe \& Stephan Kassemeyer).
+\item Fixed \texttt{quadratic.cc} documentation and code mismatch
+ (Nick Lewycky).
+\end{itemize}
+\section*{1.2.2}
+\subsection{Bug Fixes}
+\begin{itemize}
+\item Fix constant parameter blocks, and other minor fixes (Markus Moll)
+\item Fix alignment issues when combining \texttt{Jet} and
+ \texttt{FixedArray} in automatic differeniation.
+\item Remove obsolete \texttt{build\_defs} file.
+\end{itemize}
+\section*{1.2.1}
+\subsection{New Features}
+\begin{itemize}
+\item Powell's Dogleg solver
+\item Documentation now has a brief overview of Trust Region methods and how the Levenberg-Marquardt and Dogleg methods work.
+\end{itemize}
+\subsection{Bug Fixes}
+\begin{itemize}
+\item Destructor for \texttt{TrustRegionStrategy} was not virtual (Markus Moll)
+\item Invalid \texttt{DCHECK} in \texttt{suitesparse.cc} (Markus Moll)
+\item Iteration callbacks were not properly invoked (Luis Alberto Zarrabeiti)
+\item Logging level changes in ConjugateGradientsSolver
+\item VisibilityBasedPreconditioner setup does not account for skipped camera pairs. This was debugging code.
+\item Enable SSE support on MacOS
+\item \texttt{system\_test} was taking too long and too much memory (Koichi Akabe)
+\end{itemize}
+\section*{1.2.0}
+\subsection{New Features}
+\begin{itemize}
+\item \texttt{CXSparse} support.
+\item Block oriented fill reducing orderings. This
+reduces the factorization time for sparse
+\texttt{CHOLMOD} significantly.
+\item New Trust region loop with support for multiple
+trust region step strategies. Currently only Levenberg-Marquardt is supported, but this refactoring opens the door for Dog-leg, Stiehaug and others.
+\item \texttt{CMake} file restructuring. Builds in \texttt{Release} mode by default, and now has platform specific tuning flags.
+\item Re-organized documentation. No new content, but better organization.
+\end{itemize}
+
+\subsection{Bug Fixes}
+\begin{itemize}
+\item Fixed integer overflow bug in \texttt{block\_random\_access\_sparse\_matrix.cc}.
+\item Renamed some macros to prevent name conflicts.
+\item Fixed incorrent input to \texttt{StateUpdatingCallback}.
+\item Fixes to AutoDiff tests.
+\item Various internal cleanups.
+\end{itemize}
+
+\section*{1.1.1}
+\subsection{Bug Fixes}
+\begin{itemize}
+\item Fix a bug in the handling of constant blocks. (Louis Simard)
+\item Add an optional lower bound to the Levenberg-Marquardt regularizer to prevent oscillating between well and ill posed linear problems.
+\item Some internal refactoring and test fixes.
+\end{itemize}
+\section{1.1.0}
+\subsection{New Features}
+\begin{itemize}
+\item New iterative linear solver for general sparse problems - \texttt{CGNR} and a block Jacobi preconditioner for it.
+\item Changed the semantics of how \texttt{SuiteSparse} dependencies are checked and used. Now \texttt{SuiteSparse} is built by default, only if all of its dependencies are present.
+\item Automatic differentiation now supports dynamic number of residuals.
+\item Support for writing the linear least squares problems to disk in text format so that they can loaded into \texttt{MATLAB}.
+\item Linear solver results are now checked for nan and infinities.
+\item Added \texttt{.gitignore} file.
+\item A better more robust build system.
+\end{itemize}
+
+\subsection{Bug Fixes}
+\begin{itemize}
+\item Fixed a strict weak ordering bug in the schur ordering.
+\item Grammar and typos in the documents and code comments.
+\item Fixed tests which depended on exact equality between floating point values.
+\end{itemize}
+\section*{1.0.0}
+Initial Release.
diff --git a/docs/curvefitting.tex b/docs/curvefitting.tex
new file mode 100644
index 0000000..07ccd48
--- /dev/null
+++ b/docs/curvefitting.tex
@@ -0,0 +1,77 @@
+%!TEX root = ceres-solver.tex
+\chapter{Fitting a Curve to Data}
+\label{chapter:tutorial:curvefitting}
+The examples we have seen until now are simple optimization problems with no data. The original purpose of least squares and non-linear least squares analysis was fitting curves to data. It is only appropriate that we now consider an example of such a problem\footnote{The full code and data for this example can be found in
+\texttt{examples/data\_fitting.cc}. It contains data generated by sampling the curve $y = e^{0.3x + 0.1}$ and adding Gaussian noise with standard deviation $\sigma = 0.2$.}. Let us fit some data to the curve
+\begin{equation}
+ y = e^{mx + c}.
+\end{equation}
+
+We begin by defining a templated object to evaluate the residual. There will be a residual for each observation.
+\begin{minted}[mathescape]{c++}
+class ExponentialResidual {
+ public:
+ ExponentialResidual(double x, double y)
+ : x_(x), y_(y) {}
+
+ template <typename T> bool operator()(const T* const m,
+ const T* const c,
+ T* residual) const {
+ residual[0] = T(y_) - exp(m[0] * T(x_) + c[0]); // $y - e^{mx + c}$
+ return true;
+ }
+
+ private:
+ // Observations for a sample.
+ const double x_;
+ const double y_;
+};
+\end{minted}
+%\caption{Templated functor to compute the residual for the exponential model fitting problem. Note that one instance of the functor is responsible for computing the residual for one observation.}
+%\label{listing:exponentialresidual}
+%\end{listing}
+Assuming the observations are in a $2n$ sized array called \texttt{data}, the problem construction is a simple matter of creating a \texttt{CostFunction} for every observation.
+\clearpage
+\begin{minted}{c++}
+double m = 0.0;
+double c = 0.0;
+
+Problem problem;
+for (int i = 0; i < kNumObservations; ++i) {
+ problem.AddResidualBlock(
+ new AutoDiffCostFunction<ExponentialResidual, 1, 1, 1>(
+ new ExponentialResidual(data[2 * i], data[2 * i + 1])),
+ NULL,
+ &m, &c);
+}
+\end{minted}
+Compiling and running \texttt{data\_fitting.cc} gives us
+\begin{minted}{bash}
+ 0: f: 1.211734e+02 d: 0.00e+00 g: 3.61e+02 h: 0.00e+00 rho: 0.00e+00 mu: 1.00e-04 li: 0
+ 1: f: 1.211734e+02 d:-2.21e+03 g: 3.61e+02 h: 7.52e-01 rho:-1.87e+01 mu: 2.00e-04 li: 1
+ 2: f: 1.211734e+02 d:-2.21e+03 g: 3.61e+02 h: 7.51e-01 rho:-1.86e+01 mu: 8.00e-04 li: 1
+ 3: f: 1.211734e+02 d:-2.19e+03 g: 3.61e+02 h: 7.48e-01 rho:-1.85e+01 mu: 6.40e-03 li: 1
+ 4: f: 1.211734e+02 d:-2.02e+03 g: 3.61e+02 h: 7.22e-01 rho:-1.70e+01 mu: 1.02e-01 li: 1
+ 5: f: 1.211734e+02 d:-7.34e+02 g: 3.61e+02 h: 5.78e-01 rho:-6.32e+00 mu: 3.28e+00 li: 1
+ 6: f: 3.306595e+01 d: 8.81e+01 g: 4.10e+02 h: 3.18e-01 rho: 1.37e+00 mu: 1.09e+00 li: 1
+ 7: f: 6.426770e+00 d: 2.66e+01 g: 1.81e+02 h: 1.29e-01 rho: 1.10e+00 mu: 3.64e-01 li: 1
+ 8: f: 3.344546e+00 d: 3.08e+00 g: 5.51e+01 h: 3.05e-02 rho: 1.03e+00 mu: 1.21e-01 li: 1
+ 9: f: 1.987485e+00 d: 1.36e+00 g: 2.33e+01 h: 8.87e-02 rho: 9.94e-01 mu: 4.05e-02 li: 1
+10: f: 1.211585e+00 d: 7.76e-01 g: 8.22e+00 h: 1.05e-01 rho: 9.89e-01 mu: 1.35e-02 li: 1
+11: f: 1.063265e+00 d: 1.48e-01 g: 1.44e+00 h: 6.06e-02 rho: 9.97e-01 mu: 4.49e-03 li: 1
+12: f: 1.056795e+00 d: 6.47e-03 g: 1.18e-01 h: 1.47e-02 rho: 1.00e+00 mu: 1.50e-03 li: 1
+13: f: 1.056751e+00 d: 4.39e-05 g: 3.79e-03 h: 1.28e-03 rho: 1.00e+00 mu: 4.99e-04 li: 1
+Ceres Solver Report: Iterations: 13, Initial cost: 1.211734e+02, \
+Final cost: 1.056751e+00, Termination: FUNCTION_TOLERANCE.
+Initial m: 0 c: 0
+Final m: 0.291861 c: 0.131439
+\end{minted}
+
+\begin{figure}[t]
+ \begin{center}
+ \includegraphics[width=\textwidth]{fit.pdf}
+ \caption{Least squares data fitting to the curve $y = e^{0.3x + 0.1}$. Observations were generated by sampling this curve uniformly in the interval $x=(0,5)$ and adding Gaussian noise with $\sigma = 0.2$.\label{fig:exponential}}
+\end{center}
+\end{figure}
+
+Starting from parameter values $m = 0, c=0$ with an initial objective function value of $121.173$ Ceres finds a solution $m= 0.291861, c = 0.131439$ with an objective function value of $1.05675$. These values are a a bit different than the parameters of the original model $m=0.3, c= 0.1$, but this is expected. When reconstructing a curve from noisy data, we expect to see such deviations. Indeed, if you were to evaluate the objective function for $m=0.3, c=0.1$, the fit is worse with an objective function value of 1.082425. Figure~\ref{fig:exponential} illustrates the fit.
diff --git a/docs/faq.tex b/docs/faq.tex
new file mode 100644
index 0000000..162668a
--- /dev/null
+++ b/docs/faq.tex
@@ -0,0 +1,69 @@
+%!TEX root = ceres-solver.tex
+\chapter{Frequently Asked Questions}
+\label{chapter:faq}
+\newcomment{Question}
+\newcomment{Answer}
+\commentsoff{Question}
+\commentsoff{Answer}
+
+\begin{enumerate}
+\item \begin{Question}
+Why does Ceres use blocks (ParameterBlocks and ResidualBlocks) ?
+\end{Question}\\ \\
+\begin{Answer}
+Most non-linear solvers we are aware of, define the problem and residuals in terms of scalars and it is possible to do this with Ceres also. However, it is our experience that in most problems small groups of scalars occur together. For example the three components of a translation vector and the four components of the quaternion that define the pose of a camera. Same is true for residuals, where it is common to have small vectors of residuals rather than just scalars. There are a number of advantages of using blocks. It saves on indexing information, which for large problems can be substantial. Blocks translate into contiguous storage in memory which is more cache friendly and last but not the least, it allows us to use SIMD/SSE based BLAS routines to significantly speed up various matrix operations.
+\end{Answer}
+
+\item \begin{Question}
+ What is a good ParameterBlock?
+\end{Question}\\ \\
+\begin{Answer}
+In most problems there is a natural parameter block structure, as there is a semantic meaning associated with groups of scalars -- mean vector of a distribution, color of a pixel etc. To group two scalar variables, ask yourself if residual blocks will always use these two variables together. If the answer is yes, then the two variables belong to the same parameter block.
+\end{Answer}
+
+\item \begin{Question}
+ What is a good ResidualBlock?
+\end{Question}\\ \\
+\begin{Answer}
+While it is often the case that problems have a natural blocking of parameters into parameter blocks, it is not always clear what a good residual block structure is. One rule of thumb for non-linear least squares problems since they often come from data fitting problems is to create one residual block per observation. So if you are solving a Structure from Motion problem, one 2 dimensional residual block per 2d image projection is a good idea.
+
+The flips side is that sometimes, when modeling the problem it is tempting to group a large number of residuals together into a single residual block as it reduces the number of CostFunctions you have to define.
+
+For example consider the following residual block of size 18 which depends on four parameter blocks of size 4 each. Shown below is the Jacobian structure of this residual block, the numbers in the columns indicate the size, and the numbers in the rows show a grouping of the matrix that best capture its sparsity structure. \texttt{X} indicates a non-zero block, the rest of the blocks are zero.
+
+\begin{equation*}
+\begin{matrix}
+ & 4 & 4 & 4 & 4 \\
+ 2 & \texttt{X} & \texttt{X} & \texttt{X} & \texttt{X} \\
+ 4 & \texttt{X} & & & \\
+ 4 & & \texttt{X} & & \\
+ 4 & & & \texttt{X} & \\
+ 4 & & & & \texttt{X} \\
+\end{matrix}
+\end{equation*}
+
+Notice that out of the 20 cells, only 8 are non-zero, in fact out of the 288 entries only 48 entries are non-zero, thus we are hiding substantial sparsity from the solver, and using up much more memory. It is much better to break this up into 5 residual blocks. One residual block of size 2 that depends on all four parameter block and four residual blocks of size 4 each that depend on one parameter block at a time.
+\end{Answer}
+
+\item \begin{Question}
+Can I set part of a parameter block constant?
+\end{Question}\\ \\
+\begin{Answer}
+Yes, use \texttt{SubsetParameterization} as a local parameterization for the parameter block of interest. See \texttt{local\_parameterization.h} for more details.
+\end{Answer}
+
+
+\item \begin{Question}
+Can Ceres solve constrained non-linear least squares?
+\end{Question}\\ \\
+\begin{Answer}
+Not at this time. We have some ideas on how to do this, but we have not had very many requests to justify the effort involved. If you have a problem that requires such a functionality we would like to hear about it as it will help us decide directions for future work. In the meanwhile, if you are interested in solving bounds constrained problems, consider using some of the tricks described by John D'Errico in his fminsearchbnd toolkit~\footnote{\url{http://www.mathworks.com/matlabcentral/fileexchange/8277-fminsearchbnd}}.
+\end{Answer}
+
+\item \begin{Question}
+Can Ceres solve problems that cannot be written as robustified non-linear least squares?
+\end{Question}\\ \\
+\begin{Answer}
+No. Ceres was designed from the grounds up to be a non-linear least squares solver. Currently we have no plans of extending it into a general purpose non-linear solver.
+\end{Answer}
+\end{enumerate}
diff --git a/docs/fit.pdf b/docs/fit.pdf
new file mode 100644
index 0000000..8714f69
--- /dev/null
+++ b/docs/fit.pdf
Binary files differ
diff --git a/docs/further.tex b/docs/further.tex
new file mode 100644
index 0000000..67f8227
--- /dev/null
+++ b/docs/further.tex
@@ -0,0 +1,4 @@
+%!TEX root = ceres-solver.tex
+\chapter{Further Reading}
+\label{chapter:further}
+ For a short but informative introduction to the subject we recommend the booklet by Madsel et al.~\cite{madsen2004methods}. For a general introduction to non-linear optimization we recommend the text by Nocedal \& Wright~\cite{nocedal2000numerical}. Bj{\"o}rck's book remains the seminal reference on least squares problems~\cite{bjorck1996numerical}. Trefethen \& Bau's book is our favourite text on introductory numerical linear algebra~\cite{trefethen1997numerical}. Triggs et al., provide a thorough coverage of the bundle adjustment problem~\cite{triggs-etal-1999}.
diff --git a/docs/helloworld.tex b/docs/helloworld.tex
new file mode 100644
index 0000000..04b677a
--- /dev/null
+++ b/docs/helloworld.tex
@@ -0,0 +1,71 @@
+%!TEX root = ceres-solver.tex
+\chapter{Hello World!}
+\label{chapter:tutorial:helloworld}
+To get started, let us consider the problem of finding the minimum of the function
+\begin{equation}
+ \frac{1}{2}(10 -x)^2.
+\end{equation}
+This is a trivial problem, whose minimum is easy to see is located at $x = 10$, but it is a good place to start to illustrate the basics of solving a problem with Ceres\footnote{Full working code for this and other examples in this manual can be found in the \texttt{examples} directory. Code for this example can be found in \texttt{examples/quadratic.cc}}.
+
+
+Let us write this problem as a non-linear least squares problem by defining the scalar residual function $f_1(x) = 10 - x$. Then $F(x) = [f_1(x)]$ is a residual vector with exactly one component.
+
+When solving a problem with Ceres, the first thing to do is to define a subclass of \texttt{CostFunction}. It is responsible for computing the value of the residual function and its derivative (also known as the Jacobian) with respect to $x$.
+\begin{minted}[mathescape]{c++}
+class SimpleCostFunction
+ : public ceres::SizedCostFunction<1 /* number of residuals */,
+ 1 /* size of first parameter */> {
+ public:
+ virtual ~SimpleCostFunction() {}
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ const double x = parameters[0][0];
+ residuals[0] = 10 - x; // $f(x) = 10 - x$
+ // Compute the Jacobian if asked for.
+ if (jacobians != NULL && jacobians[0] != NULL) {
+ jacobians[0][0] = -1;
+ }
+ return true;
+ }
+};
+\end{minted}
+\texttt{SimpleCostFunction} is provided with an input array of parameters, an output array for residuals and an optional output array for Jacobians. In our example, there is just one parameter and one residual and this is known at compile time, therefore we can save some code and instead of inheriting from \texttt{CostFunction}, we can instaed inherit from the templated \texttt{SizedCostFunction} class.
+
+
+The \texttt{jacobians} array is optional, \texttt{Evaluate} is expected to check when it is non-null, and if it is the case then fill it with the values of the derivative of the residual function. In this case since the residual function is linear, the Jacobian is constant.
+
+Once we have a way of computing the residual vector, it is now time to construct a Non-linear least squares problem using it and have Ceres solve it.
+\begin{minted}{c++}
+int main(int argc, char** argv) {
+ double x = 5.0;
+ ceres::Problem problem;
+
+ // The problem object takes ownership of the newly allocated
+ // SimpleCostFunction and uses it to optimize the value of x.
+ problem.AddResidualBlock(new SimpleCostFunction, NULL, &x);
+
+ // Run the solver!
+ Solver::Options options;
+ options.max_num_iterations = 10;
+ options.linear_solver_type = ceres::DENSE_QR;
+ options.minimizer_progress_to_stdout = true;
+ Solver::Summary summary;
+ Solve(options, &problem, &summary);
+ std::cout << summary.BriefReport() << "\n";
+ std::cout << "x : 5.0 -> " << x << "\n";
+ return 0;
+}
+\end{minted}
+
+Compiling and running this program gives us
+\begin{minted}{bash}
+0: f: 1.250000e+01 d: 0.00e+00 g: 5.00e+00 h: 0.00e+00 rho: 0.00e+00 mu: 1.00e-04 li: 0
+1: f: 1.249750e-07 d: 1.25e+01 g: 5.00e-04 h: 5.00e+00 rho: 1.00e+00 mu: 3.33e-05 li: 1
+2: f: 1.388518e-16 d: 1.25e-07 g: 1.67e-08 h: 5.00e-04 rho: 1.00e+00 mu: 1.11e-05 li: 1
+Ceres Solver Report: Iterations: 2, Initial cost: 1.250000e+01, \
+Final cost: 1.388518e-16, Termination: PARAMETER_TOLERANCE.
+x : 5 -> 10
+\end{minted}
+
+Starting from a $x=5$, the solver in two iterations goes to 10~\footnote{Actually the solver ran for three iterations, and it was by looking at the value returned by the linear solver in the third iteration, it observed that the update to the parameter block was too small and declared convergence. Ceres only prints out the display at the end of an iteration, and terminates as soon as it detects convergence, which is why you only see two iterations here and not three.}. The careful reader will note that this is a linear problem and one linear solve should be enough to get the optimal value. The default configuration of the solver is aimed at non-linear problems, and for reasons of simplicity we did not change it in this example. It is indeed possible to obtain the solution to this problem using Ceres in one iteration. Also note that the solver did get very close to the optimal function value of 0 in the very first iteration. We will discuss these issues in greater detail when we talk about convergence and parameter settings for Ceres.
diff --git a/docs/introduction.tex b/docs/introduction.tex
new file mode 100644
index 0000000..65afef3
--- /dev/null
+++ b/docs/introduction.tex
@@ -0,0 +1,74 @@
+%!TEX root = ceres-solver.tex
+\chapter{Introduction}
+\label{chapter:introduction}
+Ceres Solver\footnote{For brevity, in the rest of this document we will just use the term Ceres.} is a non-linear least squares solver developed at Google. It is designed to solve small and large sparse problems accurately and efficiently~\footnote{For a gentle but brief introduction to non-liner least squares problems, please start by reading the~\hyperref[part:tutorial]{Tutorial}}. Amongst its various features is a simple but expressive API with support for automatic differentiation, robust norms, local parameterizations, automatic gradient checking, multithreading and automatic problem structure detection.
+
+The key computational cost when solving a non-linear least squares problem is the solution of a linear least squares problem in each iteration. To this end Ceres supports a number of different linear solvers suited for different needs. This includes dense QR factorization (using \eigen) for small scale problems, sparse Cholesky factorization (using \texttt{SuiteSparse}) for general sparse problems and specialized Schur complement based solvers for problems that arise in multi-view geometry~\cite{hartley-zisserman-book-2004}.
+
+Ceres has been used for solving a variety of problems in computer vision and machine learning at Google with sizes that range from a tens of variables and objective functions with a few hundred terms to problems with millions of variables and objective functions with tens of millions of terms.
+
+
+\section{What's in a name?}
+While there is some debate as to who invented of the method of Least Squares~\cite{stigler1981gauss}. There is no debate that it was Carl Friedrich Gauss's prediction of the orbit of the newly discovered asteroid Ceres based on just 41 days of observations that brought it to the attention of the world~\cite{tennenbaum-director}. We named our solver after Ceres to celebrate this seminal event in the history of astronomy, statistics and optimization.
+
+\section{Contributing to Ceres Solver}
+
+We welcome contributions to Ceres, whether they are new features, bug fixes or tests. The Ceres mailing list\footnote{\url{http://groups.google.com/group/ceres-solver}} is the best place for all development related discussions. Please consider joining it. If you have ideas on how you would like to contribute to Ceres, it is a good idea to let us know on the mailinglist before you start development. We may have suggestions that will save effort when trying to merge your work into the main branch. If you are looking for ideas, please let us know about your interest and skills and we will be happy to make a suggestion or three.
+
+We follow Google's C++ Style Guide~\footnote{\url{http://google-styleguide.googlecode.com/svn/trunk/cppguide.xml}} and use \texttt{git} for version control.
+
+\section{Citing Ceres Solver}
+If you use Ceres for an academic publication, please cite this manual. e.g.,
+\begin{verbatim}
+@manual{ceres-manual,
+ Author = {Sameer Agarwal and Keir Mierle},
+ Title = {Ceres Solver: Tutorial \& Reference},
+ Organization = {Google Inc.}
+}
+\end{verbatim}
+
+
+\section{Acknowledgements}
+A number of people have helped with the development and open sourcing of Ceres.
+
+Fredrik Schaffalitzky when he was at Google started the development of Ceres, and even though much has changed since then, many of the ideas from his original design are still present in the current code.
+
+Amongst Ceres' users at Google two deserve special mention: William Rucklidge and James Roseborough. William was the first user of Ceres. He bravely took on the task of porting production code to an as-yet unproven optimization library, reporting bugs and helping fix them along the way. James is perhaps the most sophisticated user of Ceres at Google. He has reported and fixed bugs and helped evolve the API for the better.
+
+Nathan Wiegand contributed the MacOS port.
+
+
+\chapter{License}
+Ceres Solver is licensed under the New BSD license, whose terms are as follows.
+
+\begin{quotation}
+
+\noindent
+Copyright (c) 2010, 2011, 2012, Google Inc. All rights reserved.
+
+\noindent
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+\begin{enumerate}
+\item Redistributions of source code must retain the above copyright notice,
+ this list of conditions and the following disclaimer.
+\item Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution.
+\item Neither the name of Google Inc., nor the names of its contributors may
+ be used to endorse or promote products derived from this software without
+ specific prior written permission.
+\end{enumerate}
+
+\noindent
+This software is provided by the copyright holders and contributors "AS IS" and
+any express or implied warranties, including, but not limited to, the implied
+warranties of merchantability and fitness for a particular purpose are
+disclaimed. In no event shall Google Inc. be liable for any direct, indirect,
+incidental, special, exemplary, or consequential damages (including, but not
+limited to, procurement of substitute goods or services; loss of use, data, or
+profits; or business interruption) however caused and on any theory of
+liability, whether in contract, strict liability, or tort (including negligence
+or otherwise) arising in any way out of the use of this software, even if
+advised of the possibility of such damage.
+\end{quotation}
diff --git a/docs/loss.pdf b/docs/loss.pdf
new file mode 100644
index 0000000..c99965e
--- /dev/null
+++ b/docs/loss.pdf
Binary files differ
diff --git a/docs/modeling.tex b/docs/modeling.tex
new file mode 100644
index 0000000..e6dce1f
--- /dev/null
+++ b/docs/modeling.tex
@@ -0,0 +1,478 @@
+%!TEX root = ceres-solver.tex
+\chapter{Modeling}
+\label{chapter:api}
+\section{\texttt{CostFunction}}
+Given parameter blocks $\left[x_{i_1}, \hdots , x_{i_k}\right]$, a
+\texttt{CostFunction} is responsible for computing
+a vector of residuals and if asked a vector of Jacobian matrices, i.e., given $\left[x_{i_1}, \hdots , x_{i_k}\right]$, compute the vector $f_i\left(x_{i_1},\hdots,x_{i_k}\right)$ and the matrices
+
+\begin{equation}
+J_{ij} = \frac{\partial}{\partial x_{j}}f_i\left(x_{i_1},\hdots,x_{i_k}\right),\quad \forall j \in \{i_1,\hdots, i_k\}
+\end{equation}
+\begin{minted}{c++}
+class CostFunction {
+ public:
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) = 0;
+ const vector<int16>& parameter_block_sizes();
+ int num_residuals() const;
+
+ protected:
+ vector<int16>* mutable_parameter_block_sizes();
+ void set_num_residuals(int num_residuals);
+};
+\end{minted}
+
+The signature of the function (number and sizes of input parameter blocks and number of outputs)
+is stored in \texttt{parameter\_block\_sizes\_} and \texttt{num\_residuals\_} respectively. User
+code inheriting from this class is expected to set these two members with the
+corresponding accessors. This information will be verified by the Problem
+when added with \texttt{Problem::AddResidualBlock}.
+
+The most important method here is \texttt{Evaluate}. It implements the residual and Jacobian computation.
+
+\texttt{parameters} is an array of pointers to arrays containing the various parameter blocks. parameters has the same number of elements as parameter\_block\_sizes\_. Parameter blocks are in the same order as parameter\_block\_sizes\_.
+
+
+\texttt{residuals} is an array of size \texttt{num\_residuals\_}.
+
+
+\texttt{jacobians} is an array of size \texttt{parameter\_block\_sizes\_} containing pointers to storage for Jacobian matrices corresponding to each parameter block. The Jacobian matrices are in the same order as \texttt{parameter\_block\_sizes\_}. \texttt{jacobians[i]} is an array that contains \texttt{num\_residuals\_} $\times$ \texttt{parameter\_block\_sizes\_[i]} elements. Each Jacobian matrix is stored in row-major order, i.e.,
+
+\begin{equation}
+\texttt{jacobians[i][r * parameter\_block\_size\_[i] + c]} =
+%\frac{\partial}{\partial x_{ic}} f_{r}\left(x_{1},\hdots, x_{k}\right)
+\frac{\partial \texttt{residual[r]}}{\partial \texttt{parameters[i][c]}}
+\end{equation}
+
+If \texttt{jacobians} is \texttt{NULL}, then no derivatives are returned; this is the case when computing cost only. If \texttt{jacobians[i]} is \texttt{NULL}, then the Jacobian matrix corresponding to the $i^{\textrm{th}}$ parameter block must not be returned, this is the case when the a parameter block is marked constant.
+
+\section{\texttt{SizedCostFunction}}
+If the size of the parameter blocks and the size of the residual vector is known at compile time (this is the common case), Ceres provides \texttt{SizedCostFunction}, where these values can be specified as template parameters.
+\begin{minted}{c++}
+template<int kNumResiduals,
+ int N0 = 0, int N1 = 0, int N2 = 0, int N3 = 0, int N4 = 0, int N5 = 0>
+class SizedCostFunction : public CostFunction {
+ public:
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) = 0;
+};
+\end{minted}
+In this case the user only needs to implement the \texttt{Evaluate} method.
+
+\section{\texttt{AutoDiffCostFunction}}
+But even defining the \texttt{SizedCostFunction} can be a tedious affair if complicated derivative computations are involved. To this end Ceres provides automatic differentiation.
+
+To get an auto differentiated cost function, you must define a class with a
+ templated \texttt{operator()} (a functor) that computes the cost function in terms of
+ the template parameter \texttt{T}. The autodiff framework substitutes appropriate
+ \texttt{Jet} objects for T in order to compute the derivative when necessary, but
+ this is hidden, and you should write the function as if T were a scalar type
+ (e.g. a double-precision floating point number).
+
+ The function must write the computed value in the last argument (the only
+ non-\texttt{const} one) and return true to indicate success.
+
+ For example, consider a scalar error $e = k - x^\top y$, where both $x$ and $y$ are
+ two-dimensional vector parameters and $k$ is a constant. The form of this error, which is the
+ difference between a constant and an expression, is a common pattern in least
+ squares problems. For example, the value $x^\top y$ might be the model expectation
+ for a series of measurements, where there is an instance of the cost function
+ for each measurement $k$.
+
+ The actual cost added to the total problem is $e^2$, or $(k - x^\top y)^2$; however,
+ the squaring is implicitly done by the optimization framework.
+
+ To write an auto-differentiable cost function for the above model, first
+ define the object
+\begin{minted}{c++}
+class MyScalarCostFunction {
+ MyScalarCostFunction(double k): k_(k) {}
+ template <typename T>
+ bool operator()(const T* const x , const T* const y, T* e) const {
+ e[0] = T(k_) - x[0] * y[0] - x[1] * y[1];
+ return true;
+ }
+
+ private:
+ double k_;
+};
+\end{minted}
+
+Note that in the declaration of \texttt{operator()} the input parameters \texttt{x} and \texttt{y} come
+ first, and are passed as const pointers to arrays of \texttt{T}. If there were three
+ input parameters, then the third input parameter would come after \texttt{y}. The
+ output is always the last parameter, and is also a pointer to an array. In
+ the example above, \texttt{e} is a scalar, so only \texttt{e[0]} is set.
+
+ Then given this class definition, the auto differentiated cost function for
+ it can be constructed as follows.
+
+\begin{minted}{c++}
+CostFunction* cost_function
+ = new AutoDiffCostFunction<MyScalarCostFunction, 1, 2, 2>(
+ new MyScalarCostFunction(1.0)); ^ ^ ^
+ | | |
+ Dimension of residual ------+ | |
+ Dimension of x ----------------+ |
+ Dimension of y -------------------+
+\end{minted}
+
+In this example, there is usually an instance for each measurement of k.
+
+In the instantiation above, the template parameters following
+ \texttt{MyScalarCostFunction}, \texttt{<1, 2, 2>} describe the functor as computing a
+ 1-dimensional output from two arguments, both 2-dimensional.
+
+ The framework can currently accommodate cost functions of up to 6 independent
+ variables, and there is no limit on the dimensionality of each of them.
+
+ \textbf{WARNING 1} Since the functor will get instantiated with different types for
+ \texttt{T}, you must convert from other numeric types to \texttt{T} before mixing
+ computations with other variables of type \texttt{T}. In the example above, this is
+ seen where instead of using \texttt{k\_} directly, \texttt{k\_} is wrapped with \texttt{T(k\_)}.
+
+ \textbf{WARNING 2} A common beginner's error when first using \texttt{AutoDiffCostFunction} is to get the sizing wrong. In particular, there is a tendency to
+ set the template parameters to (dimension of residual, number of parameters)
+ instead of passing a dimension parameter for {\em every parameter block}. In the
+ example above, that would be \texttt{<MyScalarCostFunction, 1, 2>}, which is missing
+ the 2 as the last template argument.
+
+\subsection{Theory \& Implementation}
+TBD
+
+\section{\texttt{NumericDiffCostFunction}}
+To get a numerically differentiated cost function, define a subclass of
+\texttt{CostFunction} such that the \texttt{Evaluate} function ignores the jacobian
+parameter. The numeric differentiation wrapper will fill in the jacobians array
+ if necessary by repeatedly calling the \texttt{Evaluate} method with
+small changes to the appropriate parameters, and computing the slope. For
+performance, the numeric differentiation wrapper class is templated on the
+concrete cost function, even though it could be implemented only in terms of
+the virtual \texttt{CostFunction} interface.
+\begin{minted}{c++}
+template <typename CostFunctionNoJacobian,
+ NumericDiffMethod method = CENTRAL, int M = 0,
+ int N0 = 0, int N1 = 0, int N2 = 0, int N3 = 0, int N4 = 0, int N5 = 0>
+class NumericDiffCostFunction
+ : public SizedCostFunction<M, N0, N1, N2, N3, N4, N5> {
+};
+\end{minted}
+
+The numerically differentiated version of a cost function for a cost function
+can be constructed as follows:
+\begin{minted}{c++}
+CostFunction* cost_function
+ = new NumericDiffCostFunction<MyCostFunction, CENTRAL, 1, 4, 8>(
+ new MyCostFunction(...), TAKE_OWNERSHIP);
+\end{minted}
+where \texttt{MyCostFunction} has 1 residual and 2 parameter blocks with sizes 4 and 8
+respectively. Look at the tests for a more detailed example.
+
+The central difference method is considerably more accurate at the cost of
+twice as many function evaluations than forward difference. Consider using
+central differences begin with, and only after that works, trying forward
+difference to improve performance.
+
+\section{\texttt{LossFunction}}
+ For least squares problems where the minimization may encounter
+ input terms that contain outliers, that is, completely bogus
+ measurements, it is important to use a loss function that reduces
+ their influence.
+
+ Consider a structure from motion problem. The unknowns are 3D
+ points and camera parameters, and the measurements are image
+ coordinates describing the expected reprojected position for a
+ point in a camera. For example, we want to model the geometry of a
+ street scene with fire hydrants and cars, observed by a moving
+ camera with unknown parameters, and the only 3D points we care
+ about are the pointy tippy-tops of the fire hydrants. Our magic
+ image processing algorithm, which is responsible for producing the
+ measurements that are input to Ceres, has found and matched all
+ such tippy-tops in all image frames, except that in one of the
+ frame it mistook a car's headlight for a hydrant. If we didn't do
+ anything special the
+ residual for the erroneous measurement will result in the
+ entire solution getting pulled away from the optimum to reduce
+ the large error that would otherwise be attributed to the wrong
+ measurement.
+
+ Using a robust loss function, the cost for large residuals is
+ reduced. In the example above, this leads to outlier terms getting
+ down-weighted so they do not overly influence the final solution.
+
+\begin{minted}{c++}
+class LossFunction {
+ public:
+ virtual void Evaluate(double s, double out[3]) const = 0;
+};
+\end{minted}
+
+The key method is \texttt{Evaluate}, which given a non-negative scalar \texttt{s}, computes
+\begin{align}
+ \texttt{out} = \begin{bmatrix}\rho(s), & \rho'(s), & \rho''(s)\end{bmatrix}
+\end{align}
+
+Here the convention is that the contribution of a term to the cost function is given by $\frac{1}{2}\rho(s)$, where $s = \|f_i\|^2$. Calling the method with a negative value of $s$ is an error and the implementations are not required to handle that case.
+
+Most sane choices of $\rho$ satisfy:
+\begin{align}
+ \rho(0) &= 0\\
+ \rho'(0) &= 1\\
+ \rho'(s) &< 1 \text{ in the outlier region}\\
+ \rho''(s) &< 0 \text{ in the outlier region}
+\end{align}
+so that they mimic the squared cost for small residuals.
+
+\subsection{Scaling}
+Given one robustifier $\rho(s)$
+ one can change the length scale at which robustification takes
+ place, by adding a scale factor $a > 0$ which gives us $\rho(s,a) = a^2 \rho(s / a^2)$ and the first and second derivatives as $\rho'(s / a^2)$ and $(1 / a^2) \rho''(s / a^2)$ respectively.
+
+
+\begin{figure}[hbt]
+\includegraphics[width=\textwidth]{loss.pdf}
+\caption{Shape of the various common loss functions.}
+\label{fig:loss}
+\end{figure}
+
+
+The reason for the appearance of squaring is that $a$ is in the units of the residual vector norm whereas $s$ is a squared norm. For applications it is more convenient to specify $a$ than
+its square.
+
+Here are some common loss functions implemented in Ceres. For simplicity we described their unscaled versions. Figure~\ref{fig:loss} illustrates their shape graphically.
+
+\begin{align}
+ \rho(s)&=s \tag{\texttt{NullLoss}}\\
+ \rho(s) &= \begin{cases}
+ s & s \le 1\\
+ 2 \sqrt{s} - 1 & s > 1
+ \end{cases} \tag{\texttt{HuberLoss}}\\
+ \rho(s) &= 2 (\sqrt{1+s} - 1) \tag{\texttt{SoftLOneLoss}}\\
+ \rho(s) &= \log(1 + s) \tag{\texttt{CauchyLoss}}
+\end{align}
+
+Ceres includes a number of other loss functions, the descriptions and
+documentation for which can be found in \texttt{loss\_function.h}.
+
+\subsection{Theory \& Implementation}
+Let us consider a problem with a single problem and a single parameter
+block.
+\begin{align}
+\min_x \frac{1}{2}\rho(f^2(x))
+\end{align}
+
+Then, the robustified gradient and the Gauss-Newton Hessian are
+\begin{align}
+ g(x) &= \rho'J^\top(x)f(x)\\
+ H(x) &= J^\top(x)\left(\rho' + 2 \rho''f(x)f^\top(x)\right)J(x)
+\end{align}
+where the terms involving the second derivatives of $f(x)$ have been ignored. Note that $H(x)$ is indefinite if $\rho''f(x)^\top f(x) + \frac{1}{2}\rho' < 0$. If this is not the case, then its possible to re-weight the residual and the Jacobian matrix such that the corresponding linear least squares problem for the robustified Gauss-Newton step.
+
+
+Let $\alpha$ be a root of
+\begin{equation}
+ \frac{1}{2}\alpha^2 - \alpha - \frac{\rho''}{\rho'}\|f(x)\|^2 = 0.
+\end{equation}
+Then, define the rescaled residual and Jacobian as
+\begin{align}
+ \tilde{f}(x) &= \frac{\sqrt{\rho'}}{1 - \alpha} f(x)\\
+ \tilde{J}(x) &= \sqrt{\rho'}\left(1 - \alpha \frac{f(x)f^\top(x)}{\left\|f(x)\right\|^2} \right)J(x)
+\end{align}
+In the case $2 \rho''\left\|f(x)\right\|^2 + \rho' \lesssim 0$, we limit $\alpha \le 1- \epsilon$ for some small $\epsilon$. For more details see Triggs et al~\cite{triggs-etal-1999}.
+
+With this simple rescaling, one can use any Jacobian based non-linear least squares algorithm to robustifed non-linear least squares problems.
+
+\section{\texttt{LocalParameterization}}
+Sometimes the parameters $x$ can overparameterize a problem. In
+that case it is desirable to choose a parameterization to remove
+the null directions of the cost. More generally, if $x$ lies on a
+manifold of a smaller dimension than the ambient space that it is
+embedded in, then it is numerically and computationally more
+effective to optimize it using a parameterization that lives in
+the tangent space of that manifold at each point.
+
+For example, a sphere in three dimensions is a two dimensional
+manifold, embedded in a three dimensional space. At each point on
+the sphere, the plane tangent to it defines a two dimensional
+tangent space. For a cost function defined on this sphere, given a
+point $x$, moving in the direction normal to the sphere at that
+point is not useful. Thus a better way to parameterize a point on
+a sphere is to optimize over two dimensional vector $\Delta x$ in the
+tangent space at the point on the sphere point and then "move" to
+the point $x + \Delta x$, where the move operation involves projecting
+back onto the sphere. Doing so removes a redundant dimension from
+the optimization, making it numerically more robust and efficient.
+
+More generally we can define a function
+\begin{equation}
+ x' = \boxplus(x, \Delta x),
+\end{equation}
+where $x'$ has the same size as $x$, and $\Delta x$ is of size less
+than or equal to $x$. The function $\boxplus$, generalizes the
+definition of vector addition. Thus it satisfies the identity
+\begin{equation}
+ \boxplus(x, 0) = x,\quad \forall x.
+\end{equation}
+
+Instances of \texttt{LocalParameterization} implement the $\boxplus$ operation and its derivative with respect to $\Delta x$ at $\Delta x = 0$.
+
+\begin{minted}{c++}
+class LocalParameterization {
+ public:
+ virtual ~LocalParameterization() {}
+ virtual bool Plus(const double* x,
+ const double* delta,
+ double* x_plus_delta) const = 0;
+ virtual bool ComputeJacobian(const double* x, double* jacobian) const = 0;
+ virtual int GlobalSize() const = 0;
+ virtual int LocalSize() const = 0;
+};
+\end{minted}
+
+\texttt{GlobalSize} is the dimension of the ambient space in which the parameter block $x$ lives. \texttt{LocalSize} is the size of the tangent space that $\Delta x$ lives in. \texttt{Plus} implements $\boxplus(x,\Delta x)$ and $\texttt{ComputeJacobian}$ computes the Jacobian matrix
+\begin{equation}
+ J = \left . \frac{\partial }{\partial \Delta x} \boxplus(x,\Delta x)\right|_{\Delta x = 0}
+\end{equation}
+in row major form.
+
+A trivial version of $\boxplus$ is when delta is of the same size as $x$
+and
+
+\begin{equation}
+ \boxplus(x, \Delta x) = x + \Delta x
+\end{equation}
+
+A more interesting case if $x$ is a two dimensional vector, and the
+user wishes to hold the first coordinate constant. Then, $\Delta x$ is a
+scalar and $\boxplus$ is defined as
+
+\begin{equation}
+ \boxplus(x, \Delta x) = x + \left[ \begin{array}{c} 0 \\ 1
+ \end{array} \right] \Delta x
+\end{equation}
+
+\texttt{SubsetParameterization} generalizes this construction to hold any part of a parameter block constant.
+
+
+Another example that occurs commonly in Structure from Motion problems
+is when camera rotations are parameterized using a quaternion. There,
+it is useful only to make updates orthogonal to that 4-vector defining
+the quaternion. One way to do this is to let $\Delta x$ be a 3
+dimensional vector and define $\boxplus$ to be
+
+\begin{equation}
+ \boxplus(x, \Delta x) =
+\left[
+\cos(|\Delta x|), \frac{\sin\left(|\Delta x|\right)}{|\Delta x|} \Delta x
+\right] * x
+\label{eq:quaternion}
+\end{equation}
+The multiplication between the two 4-vectors on the right hand
+side is the standard quaternion product. \texttt{QuaternionParameterization} is an implementation of~\eqref{eq:quaternion}.
+
+\clearpage
+
+\section{\texttt{Problem}}
+\begin{minted}{c++}
+class Problem {
+ public:
+ struct Options {
+ Options();
+ Ownership cost_function_ownership;
+ Ownership loss_function_ownership;
+ Ownership local_parameterization_ownership;
+ };
+
+ Problem();
+ explicit Problem(const Options& options);
+ ~Problem();
+
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ const vector<double*>& parameter_blocks);
+
+ void AddParameterBlock(double* values, int size);
+ void AddParameterBlock(double* values,
+ int size,
+ LocalParameterization* local_parameterization);
+
+ void SetParameterBlockConstant(double* values);
+ void SetParameterBlockVariable(double* values);
+ void SetParameterization(double* values,
+ LocalParameterization* local_parameterization);
+
+ int NumParameterBlocks() const;
+ int NumParameters() const;
+ int NumResidualBlocks() const;
+ int NumResiduals() const;
+};
+\end{minted}
+
+The \texttt{Problem} objects holds the robustified non-linear least squares problem~\eqref{eq:ceresproblem}. To create a least squares problem, use the \texttt{Problem::AddResidualBlock} and \texttt{Problem::AddParameterBlock} methods.
+
+For example a problem containing 3 parameter blocks of sizes 3, 4 and 5
+respectively and two residual blocks of size 2 and 6:
+
+\begin{minted}{c++}
+double x1[] = { 1.0, 2.0, 3.0 };
+double x2[] = { 1.0, 2.0, 3.0, 5.0 };
+double x3[] = { 1.0, 2.0, 3.0, 6.0, 7.0 };
+
+Problem problem;
+problem.AddResidualBlock(new MyUnaryCostFunction(...), x1);
+problem.AddResidualBlock(new MyBinaryCostFunction(...), x2, x3);
+\end{minted}
+
+
+\texttt{AddResidualBlock} as the name implies, adds a residual block to the problem. It adds a cost function, an optional loss function, and connects the cost function to a set of parameter blocks.
+
+The cost
+ function carries with it information about the sizes of the
+ parameter blocks it expects. The function checks that these match
+ the sizes of the parameter blocks listed in \texttt{parameter\_blocks}. The
+ program aborts if a mismatch is detected. \texttt{loss\_function} can be
+ \texttt{NULL}, in which case the cost of the term is just the squared norm
+ of the residuals.
+
+ The user has the option of explicitly adding the parameter blocks
+ using \texttt{AddParameterBlock}. This causes additional correctness
+ checking; however, \texttt{AddResidualBlock} implicitly adds the parameter
+ blocks if they are not present, so calling \texttt{AddParameterBlock}
+ explicitly is not required.
+
+
+ \texttt{Problem} by default takes ownership of the
+ \texttt{cost\_function} and \texttt{loss\_function pointers}. These objects remain
+ live for the life of the \texttt{Problem} object. If the user wishes to
+ keep control over the destruction of these objects, then they can
+ do this by setting the corresponding enums in the \texttt{Options} struct.
+
+
+ Note that even though the Problem takes ownership of \texttt{cost\_function}
+ and \texttt{loss\_function}, it does not preclude the user from re-using
+ them in another residual block. The destructor takes care to call
+ delete on each \texttt{cost\_function} or \texttt{loss\_function} pointer only once,
+ regardless of how many residual blocks refer to them.
+
+\texttt{AddParameterBlock} explicitly adds a parameter block to the \texttt{Problem}. Optionally it allows the user to associate a LocalParameterization object with the parameter block too. Repeated calls with the same arguments are ignored. Repeated
+calls with the same double pointer but a different size results in undefined behaviour.
+
+You can set any parameter block to be constant using
+
+\texttt{Problem::SetParameterBlockConstant}
+
+and undo this using
+
+\texttt{Problem::SetParameterBlockVariable}.
+
+In fact you can set any number of parameter blocks to be constant, and Ceres is smart enough to figure out what part of the problem you have constructed depends on the parameter blocks that are free to change and only spends time solving it. So for example if you constructed a problem with a million parameter blocks and 2 million residual blocks, but then set all but one parameter blocks to be constant and say only 10 residual blocks depend on this one non-constant parameter block. Then the computational effort Ceres spends in solving this problem will be the same if you had defined a problem with one parameter block and 10 residual blocks.
+
+ \texttt{Problem} by default takes ownership of the
+ \texttt{cost\_function}, \texttt{loss\_function} and \\ \texttt{local\_parameterization} pointers. These objects remain
+ live for the life of the \texttt{Problem} object. If the user wishes to
+ keep control over the destruction of these objects, then they can
+ do this by setting the corresponding enums in the \texttt{Options} struct. Even though \texttt{Problem} takes ownership of these pointers, it does not preclude the user from re-using them in another residual or parameter block. The destructor takes care to call
+ delete on each pointer only once.
diff --git a/docs/nnlsq.tex b/docs/nnlsq.tex
new file mode 100644
index 0000000..02d6b9e
--- /dev/null
+++ b/docs/nnlsq.tex
@@ -0,0 +1,23 @@
+%!TEX root = ceres-solver.tex
+\chapter{Non-linear Least Squares}
+\label{chapter:tutorial:nonlinsq}
+Let $x \in \reals^n$ be an $n$-dimensional vector of variables, and
+$F(x) = \left[f_1(x); \hdots ; f_k(x)\right]$ be a vector of residuals $f_i(x)$.
+The function $f_i(x)$ can be a scalar or a vector valued
+function. Then,
+\begin{equation}
+ \arg \min_x \frac{1}{2} \sum_{i=1}^k \|f_i(x)\|^2.
+\end{equation}
+is a Non-linear least squares problem~\footnote{Ceres can solve a more general version of this problem, but for pedagogical reasons, we will restrict ourselves to this class of problems for now. See section~\ref{chapter:overview} for a full description of the problems that Ceres can solve}. Here $\|\cdot\|$ denotes the Euclidean norm of a vector.
+
+Such optimization problems arise in almost every area of science and engineering. Whenever there is data to be analyzed, curves to be fitted, there is usually a linear or a non-linear least squares problem lurking in there somewhere.
+
+Perhaps the simplest example of such a problem is the problem of Ordinary Linear Regression, where given observations $(x_1,y_1),\hdots, (x_k,y_k)$, we wish to find the line $y = mx + c$, that best explains $y$ as a function of $x$. One way to solve this problem is to find the solution to the following optimization problem
+\begin{equation}
+ \arg\min_{m,c} \sum_{i=1}^k (y_i - m x_i - c)^2.
+\end{equation}
+With a little bit of calculus, this problem can be solved easily by hand. But what if, instead of a line we were interested in a more complicated relationship between $x$ and $y$, say for example $y = e^{mx + c}$. Then the optimization problem becomes
+\begin{equation}
+ \arg\min_{m,c} \sum_{i=1}^k \left(y_i - e^{m x_i + c}\right)^2.
+\end{equation}
+This is a non-linear regression problem and solving it by hand is much more tedious. Ceres is designed to help you model and solve problems like this easily and efficiently.
\ No newline at end of file
diff --git a/docs/powell.tex b/docs/powell.tex
new file mode 100644
index 0000000..5ff6ddc
--- /dev/null
+++ b/docs/powell.tex
@@ -0,0 +1,108 @@
+%!TEX root = ceres-solver.tex
+\chapter{Powell's Function}
+\label{chapter:tutorial:powell}
+Consider now a slightly more complicated example -- the minimization of Powell's function. Let $x = \left[x_1, x_2, x_3, x_4 \right]$ and
+\begin{align}
+ f_1(x) &= x_1 + 10*x_2 \\
+ f_2(x) &= \sqrt{5} * (x_3 - x_4)\\
+ f_3(x) &= (x_2 - 2*x_3)^2\\
+ f_4(x) &= \sqrt{10} * (x_1 - x_4)^2\\
+ F(x) & = \left[f_1(x),\ f_2(x),\ f_3(x),\ f_4(x) \right]
+\end{align}
+$F(x)$ is a function of four parameters, and has four residuals. Now,
+one way to solve this problem would be to define four
+\texttt{CostFunction} objects that compute the residual and Jacobians. \eg the following code shows the implementation for $f_4(x)$.
+\begin{minted}[mathescape]{c++}
+class F4 : public ceres::SizedCostFunction<1, 4> {
+ public:
+ virtual ~F4() {}
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ double x1 = parameters[0][0];
+ double x4 = parameters[0][3];
+ // $f_4 = \sqrt{10} * (x_1 - x_4)^2$
+ residuals[0] = sqrt(10.0) * (x1 - x4) * (x1 - x4)
+ if (jacobians != NULL) {
+ jacobians[0][0] = 2.0 * sqrt(10.0) * (x1 - x4); // $\partial_{x_1}f_4(x)$
+ jacobians[0][1] = 0.0; // $\partial_{x_2}f_4(x)$
+ jacobians[0][2] = 0.0; // $\partial_{x_3}f_4(x)$
+ jacobians[0][3] = -2.0 * sqrt(10.0) * (x1 - x4); // $\partial_{x_4}f_4(x)$
+ }
+ return true;
+ }
+};
+\end{minted}
+
+But this can get painful very quickly, especially for residuals involving complicated multi-variate terms. Ceres provides two ways around this problem. Numeric and automatic symbolic differentiation.
+
+\section{Automatic Differentiation}
+\label{sec:tutorial:autodiff}
+With its automatic differentiation support, Ceres allows you to define templated objects/functors that will compute the residual and it takes care of computing the Jacobians as needed and filling the \texttt{jacobians} arrays with them. For example, for $f_4(x)$ we define
+\begin{minted}[frame=lines,mathescape]{c++}
+class F4 {
+ public:
+ template <typename T> bool operator()(const T* const x1,
+ const T* const x4,
+ T* residual) const {
+ // $f_4 = \sqrt{10} * (x_1 - x_4)^2$
+ residual[0] = T(sqrt(10.0)) * (x1[0] - x4[0]) * (x1[0] - x4[0]);
+ return true;
+ }
+};
+\end{minted}
+
+The important thing to note here is that \texttt{operator()} is a
+templated method, which assumes that all its inputs and outputs are of
+some type \texttt{T}. The reason for using templates here is because Ceres will call \texttt{F4::operator<T>()}, with $\texttt{T=double}$ when just the residual is needed, and with a special type $T=\texttt{Jet}$ when the Jacobians are needed.
+
+Note also that the parameters are not packed
+into a single array, they are instead passed as separate arguments to
+\texttt{operator()}. Similarly we can define classes \texttt{F1,F2}
+and \texttt{F4}. Then let us consider the construction and solution of the problem. For brevity we only describe the relevant bits of code~\footnote{The full source code for this example can be found in \texttt{examples/powell.cc}.}
+\begin{minted}[mathescape]{c++}
+double x1 = 3.0; double x2 = -1.0; double x3 = 0.0; double x4 = 1.0;
+// Add residual terms to the problem using the using the autodiff
+// wrapper to get the derivatives automatically.
+problem.AddResidualBlock(
+ new ceres::AutoDiffCostFunction<F1, 1, 1, 1>(new F1), NULL, &x1, &x2);
+problem.AddResidualBlock(
+ new ceres::AutoDiffCostFunction<F2, 1, 1, 1>(new F2), NULL, &x3, &x4);
+problem.AddResidualBlock(
+ new ceres::AutoDiffCostFunction<F3, 1, 1, 1>(new F3), NULL, &x2, &x3)
+problem.AddResidualBlock(
+ new ceres::AutoDiffCostFunction<F4, 1, 1, 1>(new F4), NULL, &x1, &x4);
+\end{minted}
+A few things are worth noting in the code above. First, the object
+being added to the \texttt{Problem} is an
+\texttt{AutoDiffCostFunction} with \texttt{F1}, \texttt{F2}, \texttt{F3} and \texttt{F4} as template parameters. Second, each \texttt{ResidualBlock} only depends on the two parameters that the corresponding residual object depends on and not on all four parameters.
+
+
+Compiling and running \texttt{powell.cc} gives us:
+\begin{minted}{bash}
+Initial x1 = 3, x2 = -1, x3 = 0, x4 = 1
+ 0: f: 1.075000e+02 d: 0.00e+00 g: 1.55e+02 h: 0.00e+00 rho: 0.00e+00 mu: 1.00e-04 li: 0
+ 1: f: 5.036190e+00 d: 1.02e+02 g: 2.00e+01 h: 2.16e+00 rho: 9.53e-01 mu: 3.33e-05 li: 1
+ 2: f: 3.148168e-01 d: 4.72e+00 g: 2.50e+00 h: 6.23e-01 rho: 9.37e-01 mu: 1.11e-05 li: 1
+ 3: f: 1.967760e-02 d: 2.95e-01 g: 3.13e-01 h: 3.08e-01 rho: 9.37e-01 mu: 3.70e-06 li: 1
+ 4: f: 1.229900e-03 d: 1.84e-02 g: 3.91e-02 h: 1.54e-01 rho: 9.37e-01 mu: 1.23e-06 li: 1
+ 5: f: 7.687123e-05 d: 1.15e-03 g: 4.89e-03 h: 7.69e-02 rho: 9.37e-01 mu: 4.12e-07 li: 1
+ 6: f: 4.804625e-06 d: 7.21e-05 g: 6.11e-04 h: 3.85e-02 rho: 9.37e-01 mu: 1.37e-07 li: 1
+ 7: f: 3.003028e-07 d: 4.50e-06 g: 7.64e-05 h: 1.92e-02 rho: 9.37e-01 mu: 4.57e-08 li: 1
+ 8: f: 1.877006e-08 d: 2.82e-07 g: 9.54e-06 h: 9.62e-03 rho: 9.37e-01 mu: 1.52e-08 li: 1
+ 9: f: 1.173223e-09 d: 1.76e-08 g: 1.19e-06 h: 4.81e-03 rho: 9.37e-01 mu: 5.08e-09 li: 1
+ 10: f: 7.333425e-11 d: 1.10e-09 g: 1.49e-07 h: 2.40e-03 rho: 9.37e-01 mu: 1.69e-09 li: 1
+ 11: f: 4.584044e-12 d: 6.88e-11 g: 1.86e-08 h: 1.20e-03 rho: 9.37e-01 mu: 5.65e-10 li: 1
+Ceres Solver Report: Iterations: 12, Initial cost: 1.075000e+02, \
+Final cost: 2.865573e-13, Termination: GRADIENT_TOLERANCE.
+Final x1 = 0.000583994, x2 = -5.83994e-05, x3 = 9.55401e-05, x4 = 9.55401e-05
+\end{minted}
+It is easy to see that the optimal solution to this problem is at $x_1=0, x_2=0, x_3=0, x_4=0$ with an objective function value of $0$. In 10 iterations, Ceres finds a solution with an objective function value of $4\times 10^{-12}$.
+
+\section{Numeric Differentiation}
+If a templated implementation is not possible then a \texttt{NumericDiffCostFunction} object can be used. The user defines a \texttt{CostFunction} object whose \texttt{Evaluate} method is only computes the residuals. A wrapper object \texttt{NumericDiffCostFunction} then uses it to compute the residuals and the Jacobian using finite differencing. \texttt{examples/quadratic\_numeric\_diff.cc} shows a numerically differentiated implementation of \texttt{examples/quadratic.cc}.
+
+We recommend that if possible, automatic differentiation should be used. The use of
+C++ templates makes automatic differentiation extremely efficient,
+whereas numeric differentiation can be quite expensive, prone to
+numeric errors and leads to slower convergence.
\ No newline at end of file
diff --git a/docs/reference-overview.tex b/docs/reference-overview.tex
new file mode 100644
index 0000000..dac0ef2
--- /dev/null
+++ b/docs/reference-overview.tex
@@ -0,0 +1,18 @@
+%!TEX root = ceres-solver.tex
+\chapter{Overview}
+\label{chapter:overview}
+Ceres solves robustified non-linear least squares problems of the form
+\begin{equation}
+\frac{1}{2}\sum_{i=1} \rho_i\left(\left\|f_i\left(x_{i_1},\hdots,x_{i_k}\right)\right\|^2\right).
+\label{eq:ceresproblem}
+\end{equation}
+Where $f_i(\cdot)$ is a cost function that depends on the parameter blocks $\left[x_{i_1}, \hdots , x_{i_k}\right]$ and $\rho_i$ is a loss function. In most optimization problems small groups of scalars occur together. For example the three components of a translation vector and the four components of the quaternion that define the pose of a camera. We refer to such a group of small scalars as a Parameter Block. Of course a parameter block can just have a single parameter.
+The term $ \rho_i\left(\left\|f_i\left(x_{i_1},\hdots,x_{i_k}\right)\right\|^2\right)$ is known as a Residual Block. A Ceres problem is a collection of residual blocks, each of which depends on a subset of the parameter blocks.
+
+Solving problems using Ceres consists of two steps.
+\begin{enumerate}
+\item{Modeling} Define parameter blocks and residual blocks and build a \texttt{Problem} object containing them.
+\item{Solving} Configure and run the solver.
+\end{enumerate}
+
+These two steps are mostly independent of each other. This is by design. Modeling the optimization problem should not depend on how the solver and the user should be able to switch between various solver settings and strategies without changing the way the problem is modeled. In the next two chapters we will consider each of these steps in detail.
\ No newline at end of file
diff --git a/docs/solving.tex b/docs/solving.tex
new file mode 100644
index 0000000..ee8a3b8
--- /dev/null
+++ b/docs/solving.tex
@@ -0,0 +1,767 @@
+%!TEX root = ceres-solver.tex
+\chapter{Solving}
+Effective use of Ceres requires some familiarity with the basic components of a nonlinear least squares solver, so before we describe how to configure the solver, we will begin by taking a brief look at how some of the core optimization algorithms in Ceres work and the various linear solvers and preconditioners that power it.
+
+\section{Trust Region Methods}
+\label{sec:trust-region}
+Let $x \in \mathbb{R}^{n}$ be an $n$-dimensional vector of variables, and
+$ F(x) = \left[f_1(x), \hdots, f_{m}(x) \right]^{\top}$ be a $m$-dimensional function of $x$. We are interested in solving the following optimization problem~\footnote{At the level of the non-linear solver, the block and residual structure is not relevant, therefore our discussion here is in terms of an optimization problem defined over a state vector of size $n$.},
+\begin{equation}
+ \arg \min_x \frac{1}{2}\|F(x)\|^2\ .
+ \label{eq:nonlinsq}
+\end{equation}
+Here, the Jacobian $J(x)$ of $F(x)$ is an $m\times n$ matrix, where $J_{ij}(x) = \partial_j f_i(x)$ and the gradient vector $g(x) = \nabla \frac{1}{2}\|F(x)\|^2 = J(x)^\top F(x)$. Since the efficient global optimization of~\eqref{eq:nonlinsq} for general $F(x)$ is an intractable problem, we will have to settle for finding a local minimum.
+
+The general strategy when solving non-linear optimization problems is to solve a sequence of approximations to the original problem~\cite{nocedal2000numerical}. At each iteration, the approximation is solved to determine a correction $\Delta x$ to the vector $x$. For non-linear least squares, an approximation can be constructed by using the linearization $F(x+\Delta x) \approx F(x) + J(x)\Delta x$, which leads to the following linear least squares problem:
+\begin{equation}
+ \min_{\Delta x} \frac{1}{2}\|J(x)\Delta x + F(x)\|^2
+ \label{eq:linearapprox}
+\end{equation}
+Unfortunately, na\"ively solving a sequence of these problems and
+updating $x \leftarrow x+ \Delta x$ leads to an algorithm that may not
+converge. To get a convergent algorithm, we need to control the size
+of the step $\Delta x$. And this is where the idea of a trust-region
+comes in. Algorithm~\ref{alg:trust-region} describes the basic trust-region loop for non-linear least squares problems.
+
+\begin{algorithm}
+\caption{The basic trust-region algorithm.\label{alg:trust-region}}
+\begin{algorithmic}
+\REQUIRE Initial point $x$ and a trust region radius $\mu$.
+\LOOP
+\STATE{Solve $\arg \min_{\Delta x} \frac{1}{2}\|J(x)\Delta x + F(x)\|^2$ s.t. $\|D(x)\Delta x\|^2 \le \mu$}
+\STATE{$\rho = \frac{\displaystyle \|F(x + \Delta x)\|^2 - \|F(x)\|^2}{\displaystyle \|J(x)\Delta x + F(x)\|^2 - \|F(x)\|^2}$}
+\IF {$\rho > \epsilon$}
+\STATE{$x = x + \Delta x$}
+\ENDIF
+\IF {$\rho > \eta_1$}
+\STATE{$\rho = 2 * \rho$}
+\ELSE
+\IF {$\rho < \eta_2$}
+\STATE {$\rho = 0.5 * \rho$}
+\ENDIF
+\ENDIF
+\ENDLOOP
+\end{algorithmic}
+\end{algorithm}
+
+Here, $\mu$ is the trust region radius, $D(x)$ is some matrix used to define a metric on the domain of $F(x)$ and $\rho$ measures the quality of the step $\Delta x$, i.e., how well did the linear model predict the decrease in the value of the non-linear objective. The idea is to increase or decrease the radius of the trust region depending on how well the linearization predicts the behavior of the non-linear objective, which in turn is reflected in the value of $\rho$.
+
+The key computational step in a trust-region algorithm is the solution of the constrained optimization problem
+\begin{align}
+ \arg\min_{\Delta x}& \frac{1}{2}\|J(x)\Delta x + F(x)\|^2 \\
+ \text{such that}&\quad \|D(x)\Delta x\|^2 \le \mu
+\label{eq:trp}
+\end{align}
+
+There are a number of different ways of solving this problem, each giving rise to a different concrete trust-region algorithm. Currently Ceres, implements two trust-region algorithms - Levenberg-Marquardt and Dogleg.
+
+\subsection{Levenberg-Marquardt}
+The Levenberg-Marquardt algorithm~\cite{levenberg1944method, marquardt1963algorithm} is the most popular algorithm for solving non-linear least squares problems. It was also the first trust region algorithm to be developed~\cite{levenberg1944method,marquardt1963algorithm}. Ceres implements an exact step~\cite{madsen2004methods} and an inexact step variant of the Levenberg-Marquardt algorithm~\cite{wright1985inexact,nash1990assessing}.
+
+It can be shown, that the solution to~\eqref{eq:trp} can be obtained by solving an unconstrained optimization of the form
+\begin{align}
+ \arg\min_{\Delta x}& \frac{1}{2}\|J(x)\Delta x + F(x)\|^2 +\lambda \|D(x)\Delta x\|^2
+\end{align}
+Where, $\lambda$ is a Lagrange multiplier that is inverse related to $\mu$. In Ceres, we solve for
+\begin{align}
+ \arg\min_{\Delta x}& \frac{1}{2}\|J(x)\Delta x + F(x)\|^2 + \frac{1}{\mu} \|D(x)\Delta x\|^2
+\label{eq:lsqr}
+\end{align}
+The matrix $D(x)$ is a non-negative diagonal matrix, typically the square root of the diagonal of the matrix $J(x)^\top J(x)$.
+
+Before going further, let us make some notational simplifications. We will assume that the matrix $\sqrt{\mu} D$ has been concatenated at the bottom of the matrix $J$ and similarly a vector of zeros has been added to the bottom of the vector $f$ and the rest of our discussion will be in terms of $J$ and $f$, \ie the linear least squares problem.
+\begin{align}
+ \min_{\Delta x} \frac{1}{2} \|J(x)\Delta x + f(x)\|^2 .
+ \label{eq:simple}
+\end{align}
+For all but the smallest problems the solution of~\eqref{eq:simple} in each iteration of the Levenberg-Marquardt algorithm is the dominant computational cost in Ceres. Ceres provides a number of different options for solving~\eqref{eq:simple}. There are two major classes of methods - factorization and iterative.
+
+The factorization methods are based on computing an exact solution of~\eqref{eq:lsqr} using a Cholesky or a QR factorization and lead to an exact step Levenberg-Marquardt algorithm. But it is not clear if an exact solution of~\eqref{eq:lsqr} is necessary at each step of the LM algorithm to solve~\eqref{eq:nonlinsq}. In fact, we have already seen evidence that this may not be the case, as~\eqref{eq:lsqr} is itself a regularized version of~\eqref{eq:linearapprox}. Indeed, it is possible to construct non-linear optimization algorithms in which the linearized problem is solved approximately. These algorithms are known as inexact Newton or truncated Newton methods~\cite{nocedal2000numerical}.
+
+An inexact Newton method requires two ingredients. First, a cheap method for approximately solving systems of linear equations. Typically an iterative linear solver like the Conjugate Gradients method is used for this purpose~\cite{nocedal2000numerical}. Second, a termination rule for the iterative solver. A typical termination rule is of the form
+\begin{equation}
+ \|H(x) \Delta x + g(x)\| \leq \eta_k \|g(x)\|. \label{eq:inexact}
+\end{equation}
+Here, $k$ indicates the Levenberg-Marquardt iteration number and $0 < \eta_k <1$ is known as the forcing sequence. Wright \& Holt \cite{wright1985inexact} prove that a truncated Levenberg-Marquardt algorithm that uses an inexact Newton step based on~\eqref{eq:inexact} converges for any sequence $\eta_k \leq \eta_0 < 1$ and the rate of convergence depends on the choice of the forcing sequence $\eta_k$.
+
+Ceres supports both exact and inexact step solution strategies. When the user chooses a factorization based linear solver, the exact step Levenberg-Marquardt algorithm is used. When the user chooses an iterative linear solver, the inexact step Levenberg-Marquardt algorithm is used.
+
+\subsection{Dogleg}
+\label{sec:dogleg}
+Another strategy for solving the trust region problem~\eqref{eq:trp} was introduced by M. J. D. Powell. The key idea there is to compute two vectors
+\begin{align}
+ \Delta x^{\text{Gauss-Newton}} &= \arg \min_{\Delta x}\frac{1}{2} \|J(x)\Delta x + f(x)\|^2.\\
+ \Delta x^{\text{Cauchy}} &= -\frac{\|g(x)\|^2}{\|J(x)g(x)\|^2}g(x).
+\end{align}
+Note that the vector $\Delta x^{\text{Gauss-Newton}}$ is the solution
+to~\eqref{eq:linearapprox} and $\Delta x^{\text{Cauchy}}$ is the
+vector that minimizes the linear approximation if we restrict
+ourselves to moving along the direction of the gradient. Dogleg methods finds a vector $\Delta x$ defined by $\Delta
+x^{\text{Gauss-Newton}}$ and $\Delta x^{\text{Cauchy}}$ that solves
+the trust region problem. Ceres supports two
+variants.
+
+\texttt{TRADITIONAL\_DOGLEG} as described by Powell,
+constructs two line segments using the Gauss-Newton and Cauchy vectors
+and finds the point farthest along this line shaped like a dogleg
+(hence the name) that is contained in the
+trust-region. For more details on the exact reasoning and computations, please see Madsen et al~\cite{madsen2004methods}.
+
+ \texttt{SUBSPACE\_DOGLEG} is a more sophisticated method
+that considers the entire two dimensional subspace spanned by these
+two vectors and finds the point that minimizes the trust region
+problem in this subspace\cite{byrd1988approximate}.
+
+The key advantage of the Dogleg over Levenberg Marquardt is that if the step computation for a particular choice of $\mu$ does not result in sufficient decrease in the value of the objective function, Levenberg-Marquardt solves the linear approximation from scratch with a smaller value of $\mu$. Dogleg on the other hand, only needs to compute the interpolation between the Gauss-Newton and the Cauchy vectors, as neither of them depend on the value of $\mu$.
+
+The Dogleg method can only be used with the exact factorization based linear solvers.
+
+\subsection{Inner Iterations}
+\label{sec:inner}
+Some non-linear least squares problems have additional structure in
+the way the parameter blocks interact that it is beneficial to modify
+the way the trust region step is computed. e.g., consider the
+following regression problem
+
+\begin{equation}
+ y = a_1 e^{b_1 x} + a_2 e^{b_3 x^2 + c_1}
+\end{equation}
+
+Given a set of pairs $\{(x_i, y_i)\}$, the user wishes to estimate
+$a_1, a_2, b_1, b_2$, and $c_1$.
+
+Notice that the expression on the left is linear in $a_1$ and $a_2$,
+and given any value for $b_1$, $b_2$ and $c_1$, it is possible to use
+linear regression to estimate the optimal values of $a_1$ and
+$a_2$. It's possible to analytically eliminate the variables
+$a_1$ and $a_2$ from the problem entirely. Problems like these are
+known as separable least squares problem and the most famous algorithm
+for solving them is the Variable Projection algorithm invented by
+Golub \& Pereyra~\cite{golub-pereyra-73}.
+
+Similar structure can be found in the matrix factorization with
+missing data problem. There the corresponding algorithm is
+known as Wiberg's algorithm~\cite{wiberg}.
+
+Ruhe \& Wedin present an analysis of
+various algorithms for solving separable non-linear least
+squares problems and refer to {\em Variable Projection} as
+Algorithm I in their paper~\cite{ruhe-wedin}.
+
+Implementing Variable Projection is tedious and expensive. Ruhe \&
+Wedin present a simpler algorithm with comparable convergence
+properties, which they call Algorithm II. Algorithm II performs an
+additional optimization step to estimate $a_1$ and $a_2$ exactly after
+computing a successful Newton step.
+
+
+This idea can be generalized to cases where the residual is not
+linear in $a_1$ and $a_2$, i.e.,
+
+\begin{equation}
+ y = f_1(a_1, e^{b_1 x}) + f_2(a_2, e^{b_3 x^2 + c_1})
+\end{equation}
+
+In this case, we solve for the trust region step for the full problem,
+and then use it as the starting point to further optimize just $a_1$
+and $a_2$. For the linear case, this amounts to doing a single linear
+least squares solve. For non-linear problems, any method for solving
+the $a_1$ and $a_2$ optimization problems will do. The only constraint
+on $a_1$ and $a_2$ (if they are two different parameter block) is that
+they do not co-occur in a residual block.
+
+This idea can be further generalized, by not just optimizing $(a_1,
+a_2)$, but decomposing the graph corresponding to the Hessian matrix's
+sparsity structure into a collection of non-overlapping independent sets
+and optimizing each of them.
+
+Setting \texttt{Solver::Options::use\_inner\_iterations} to true
+enables
+the use of this non-linear generalization of Ruhe \& Wedin's Algorithm
+II. This version of Ceres has a higher iteration complexity, but also
+displays better convergence behavior per iteration.
+
+Setting \texttt{Solver::Options::num\_threads} to the maximum number
+possible is highly recommended.
+
+\subsection{Non-monotonic Steps}
+\label{sec:non-monotonic}
+Note that the basic trust-region algorithm described in
+Algorithm~\ref{alg:trust-region} is a descent algorithm in that they
+only accepts a point if it strictly reduces the value of the objective
+function.
+
+Relaxing this requirement allows the algorithm to be more
+efficient in the long term at the cost of some local increase
+in the value of the objective function.
+
+This is because allowing for non-decreasing objective function
+values in a princpled manner allows the algorithm to ``jump over
+boulders'' as the method is not restricted to move into narrow
+valleys while preserving its convergence properties.
+
+Setting \texttt{Solver::Options::use\_nonmonotonic\_steps} to \texttt{true}
+enables the non-monotonic trust region algorithm as described by
+Conn, Gould \& Toint in~\cite{conn2000trust}.
+
+Even though the value of the objective function may be larger
+than the minimum value encountered over the course of the
+optimization, the final parameters returned to the user are the
+ones corresponding to the minimum cost over all iterations.
+
+The option to take non-monotonic is available for all trust region
+strategies.
+
+\section{\texttt{LinearSolver}}
+Recall that in both of the trust-region methods described above, the key computational cost is the solution of a linear least squares problem of the form
+\begin{align}
+ \min_{\Delta x} \frac{1}{2} \|J(x)\Delta x + f(x)\|^2 .
+ \label{eq:simple2}
+\end{align}
+
+
+Let $H(x)= J(x)^\top J(x)$ and $g(x) = -J(x)^\top f(x)$. For notational convenience let us also drop the dependence on $x$. Then it is easy to see that solving~\eqref{eq:simple2} is equivalent to solving the {\em normal equations}
+\begin{align}
+H \Delta x &= g \label{eq:normal}
+\end{align}
+
+Ceres provides a number of different options for solving~\eqref{eq:normal}.
+
+\subsection{\texttt{DENSE\_QR}}
+For small problems (a couple of hundred parameters and a few thousand residuals) with relatively dense Jacobians, \texttt{DENSE\_QR} is the method of choice~\cite{bjorck1996numerical}. Let $J = QR$ be the QR-decomposition of $J$, where $Q$ is an orthonormal matrix and $R$ is an upper triangular matrix~\cite{trefethen1997numerical}. Then it can be shown that the solution to~\eqref{eq:normal} is given by
+\begin{align}
+ \Delta x^* = -R^{-1}Q^\top f
+\end{align}
+Ceres uses \texttt{Eigen}'s dense QR factorization routines.
+
+\subsection{\texttt{DENSE\_NORMAL\_CHOLESKY} \& \texttt{SPARSE\_NORMAL\_CHOLESKY}}
+Large non-linear least square problems are usually sparse. In such cases, using a dense QR factorization is inefficient. Let $H = R^\top R$ be the Cholesky factorization of the normal equations, where $R$ is an upper triangular matrix, then the solution to ~\eqref{eq:normal} is given by
+\begin{equation}
+ \Delta x^* = R^{-1} R^{-\top} g.
+\end{equation}
+The observant reader will note that the $R$ in the Cholesky
+factorization of $H$ is the same upper triangular matrix $R$ in the QR
+factorization of $J$. Since $Q$ is an orthonormal matrix, $J=QR$
+implies that $J^\top J = R^\top Q^\top Q R = R^\top R$. There are two variants of Cholesky factorization -- sparse and
+dense.
+
+\texttt{DENSE\_NORMAL\_CHOLESKY} as the name implies performs a dense
+Cholesky factorization of the normal equations. Ceres uses
+\texttt{Eigen}'s dense LDLT factorization routines.
+
+\texttt{SPARSE\_NORMAL\_CHOLESKY}, as the name implies performs a
+sparse Cholesky factorization of the normal equations. This leads to
+substantial savings in time and memory for large sparse
+problems. Ceres uses the sparse Cholesky factorization routines in Professor Tim Davis' \texttt{SuiteSparse} or
+\texttt{CXSparse} packages~\cite{chen2006acs}.
+
+\subsection{\texttt{DENSE\_SCHUR} \& \texttt{SPARSE\_SCHUR}}
+While it is possible to use \texttt{SPARSE\_NORMAL\_CHOLESKY} to solve bundle adjustment problems, bundle adjustment problem have a special structure, and a more efficient scheme for solving~\eqref{eq:normal} can be constructed.
+
+Suppose that the SfM problem consists of $p$ cameras and $q$ points and the variable vector $x$ has the block structure $x = [y_{1},\hdots,y_{p},z_{1},\hdots,z_{q}]$. Where, $y$ and $z$ correspond to camera and point parameters, respectively. Further, let the camera blocks be of size $c$ and the point blocks be of size $s$ (for most problems $c$ = $6$--$9$ and $s = 3$). Ceres does not impose any constancy requirement on these block sizes, but choosing them to be constant simplifies the exposition.
+
+A key characteristic of the bundle adjustment problem is that there is no term $f_{i}$ that includes two or more point blocks. This in turn implies that the matrix $H$ is of the form
+\begin{equation}
+ H = \left[
+ \begin{matrix} B & E\\ E^\top & C
+ \end{matrix}
+ \right]\ ,
+\label{eq:hblock}
+\end{equation}
+where, $B \in \reals^{pc\times pc}$ is a block sparse matrix with $p$ blocks of size $c\times c$ and $C \in \reals^{qs\times qs}$ is a block diagonal matrix with $q$ blocks of size $s\times s$. $E \in \reals^{pc\times qs}$ is a general block sparse matrix, with a block of size $c\times s$ for each observation. Let us now block partition $\Delta x = [\Delta y,\Delta z]$ and $g=[v,w]$ to restate~\eqref{eq:normal} as the block structured linear system
+\begin{equation}
+ \left[
+ \begin{matrix} B & E\\ E^\top & C
+ \end{matrix}
+ \right]\left[
+ \begin{matrix} \Delta y \\ \Delta z
+ \end{matrix}
+ \right]
+ =
+ \left[
+ \begin{matrix} v\\ w
+ \end{matrix}
+ \right]\ ,
+\label{eq:linear2}
+\end{equation}
+and apply Gaussian elimination to it. As we noted above, $C$ is a block diagonal matrix, with small diagonal blocks of size $s\times s$.
+Thus, calculating the inverse of $C$ by inverting each of these blocks is cheap. This allows us to eliminate $\Delta z$ by observing that $\Delta z = C^{-1}(w - E^\top \Delta y)$, giving us
+\begin{equation}
+ \left[B - EC^{-1}E^\top\right] \Delta y = v - EC^{-1}w\ . \label{eq:schur}
+\end{equation}
+The matrix
+\begin{equation}
+S = B - EC^{-1}E^\top\ ,
+\end{equation}
+is the Schur complement of $C$ in $H$. It is also known as the {\em reduced camera matrix}, because the only variables participating in~\eqref{eq:schur} are the ones corresponding to the cameras. $S \in \reals^{pc\times pc}$ is a block structured symmetric positive definite matrix, with blocks of size $c\times c$. The block $S_{ij}$ corresponding to the pair of images $i$ and $j$ is non-zero if and only if the two images observe at least one common point.
+
+Now, \eqref{eq:linear2}~can be solved by first forming $S$, solving for $\Delta y$, and then back-substituting $\Delta y$ to obtain the value of $\Delta z$.
+Thus, the solution of what was an $n\times n$, $n=pc+qs$ linear system is reduced to the inversion of the block diagonal matrix $C$, a few matrix-matrix and matrix-vector multiplies, and the solution of block sparse $pc\times pc$ linear system~\eqref{eq:schur}. For almost all problems, the number of cameras is much smaller than the number of points, $p \ll q$, thus solving~\eqref{eq:schur} is significantly cheaper than solving~\eqref{eq:linear2}. This is the {\em Schur complement trick}~\cite{brown-58}.
+
+This still leaves open the question of solving~\eqref{eq:schur}. The
+method of choice for solving symmetric positive definite systems
+exactly is via the Cholesky
+factorization~\cite{trefethen1997numerical} and depending upon the
+structure of the matrix, there are, in general, two options. The first
+is direct factorization, where we store and factor $S$ as a dense
+matrix~\cite{trefethen1997numerical}. This method has $O(p^2)$ space complexity and $O(p^3)$ time
+complexity and is only practical for problems with up to a few hundred
+cameras. Ceres implements this strategy as the \texttt{DENSE\_SCHUR} solver.
+
+
+ But, $S$ is typically a fairly sparse matrix, as most images
+only see a small fraction of the scene. This leads us to the second
+option: sparse direct methods. These methods store $S$ as a sparse
+matrix, use row and column re-ordering algorithms to maximize the
+sparsity of the Cholesky decomposition, and focus their compute effort
+on the non-zero part of the factorization~\cite{chen2006acs}.
+Sparse direct methods, depending on the exact sparsity structure of the Schur complement,
+allow bundle adjustment algorithms to significantly scale up over those based on dense
+factorization. Ceres implements this strategy as the \texttt{SPARSE\_SCHUR} solver.
+
+\subsection{\texttt{CGNR}}
+For general sparse problems, if the problem is too large for \texttt{CHOLMOD} or a sparse linear algebra library is not linked into Ceres, another option is the \texttt{CGNR} solver. This solver uses the Conjugate Gradients solver on the {\em normal equations}, but without forming the normal equations explicitly. It exploits the relation
+\begin{align}
+ H x = J^\top J x = J^\top(J x)
+\end{align}
+When the user chooses \texttt{ITERATIVE\_SCHUR} as the linear solver, Ceres automatically switches from the exact step algorithm to an inexact step algorithm.
+
+\subsection{\texttt{ITERATIVE\_SCHUR}}
+Another option for bundle adjustment problems is to apply PCG to the reduced camera matrix $S$ instead of $H$. One reason to do this is that $S$ is a much smaller matrix than $H$, but more importantly, it can be shown that $\kappa(S)\leq \kappa(H)$. Ceres implements PCG on $S$ as the \texttt{ITERATIVE\_SCHUR} solver. When the user chooses \texttt{ITERATIVE\_SCHUR} as the linear solver, Ceres automatically switches from the exact step algorithm to an inexact step algorithm.
+
+The cost of forming and storing the Schur complement $S$ can be prohibitive for large problems. Indeed, for an inexact Newton solver that computes $S$ and runs PCG on it, almost all of its time is spent in constructing $S$; the time spent inside the PCG algorithm is negligible in comparison. Because PCG only needs access to $S$ via its product with a vector, one way to evaluate $Sx$ is to observe that
+\begin{align}
+ x_1 &= E^\top x \notag \\
+ x_2 &= C^{-1} x_1 \notag\\
+ x_3 &= Ex_2 \notag\\
+ x_4 &= Bx \notag\\
+ Sx &= x_4 - x_3\ .\label{eq:schurtrick1}
+\end{align}
+Thus, we can run PCG on $S$ with the same computational effort per iteration as PCG on $H$, while reaping the benefits of a more powerful preconditioner. In fact, we do not even need to compute $H$, \eqref{eq:schurtrick1} can be implemented using just the columns of $J$.
+
+Equation~\eqref{eq:schurtrick1} is closely related to {\em Domain Decomposition methods} for solving large linear systems that arise in structural engineering and partial differential equations. In the language of Domain Decomposition, each point in a bundle adjustment problem is a domain, and the cameras form the interface between these domains. The iterative solution of the Schur complement then falls within the sub-category of techniques known as Iterative Sub-structuring~\cite{saad2003iterative,mathew2008domain}.
+
+\section{Preconditioner}
+The convergence rate of Conjugate Gradients for solving~\eqref{eq:normal} depends on the distribution of eigenvalues of $H$~\cite{saad2003iterative}. A useful upper bound is $\sqrt{\kappa(H)}$, where, $\kappa(H)$f is the condition number of the matrix $H$. For most bundle adjustment problems, $\kappa(H)$ is high and a direct application of Conjugate Gradients to~\eqref{eq:normal} results in extremely poor performance.
+
+The solution to this problem is to replace~\eqref{eq:normal} with a {\em preconditioned} system. Given a linear system, $Ax =b$ and a preconditioner $M$ the preconditioned system is given by $M^{-1}Ax = M^{-1}b$. The resulting algorithm is known as Preconditioned Conjugate Gradients algorithm (PCG) and its worst case complexity now depends on the condition number of the {\em preconditioned} matrix $\kappa(M^{-1}A)$.
+
+The computational cost of using a preconditioner $M$ is the cost of computing $M$ and evaluating the product $M^{-1}y$ for arbitrary vectors $y$. Thus, there are two competing factors to consider: How much of $H$'s structure is captured by $M$ so that the condition number $\kappa(HM^{-1})$ is low, and the computational cost of constructing and using $M$. The ideal preconditioner would be one for which $\kappa(M^{-1}A) =1$. $M=A$ achieves this, but it is not a practical choice, as applying this preconditioner would require solving a linear system equivalent to the unpreconditioned problem. It is usually the case that the more information $M$ has about $H$, the more expensive it is use. For example, Incomplete Cholesky factorization based preconditioners have much better convergence behavior than the Jacobi preconditioner, but are also much more expensive.
+
+
+The simplest of all preconditioners is the diagonal or Jacobi preconditioner, \ie, $M=\operatorname{diag}(A)$, which for block structured matrices like $H$ can be generalized to the block Jacobi preconditioner.
+
+For \texttt{ITERATIVE\_SCHUR} there are two obvious choices for block diagonal preconditioners for $S$. The block diagonal of the matrix $B$~\cite{mandel1990block} and the block diagonal $S$, \ie the block Jacobi preconditioner for $S$. Ceres's implements both of these preconditioners and refers to them as \texttt{JACOBI} and \texttt{SCHUR\_JACOBI} respectively.
+
+For bundle adjustment problems arising in reconstruction from community photo collections, more effective preconditioners can be constructed by analyzing and exploiting the camera-point visibility structure of the scene~\cite{kushal2012}. Ceres implements the two visibility based preconditioners described by Kushal \& Agarwal as \texttt{CLUSTER\_JACOBI} and \texttt{CLUSTER\_TRIDIAGONAL}. These are fairly new preconditioners and Ceres' implementation of them is in its early stages and is not as mature as the other preconditioners described above.
+
+\section{Ordering}
+\label{sec:ordering}
+The order in which variables are eliminated in a linear solver can
+have a significant of impact on the efficiency and accuracy of the
+method. For example when doing sparse Cholesky factorization, there are
+matrices for which a good ordering will give a Cholesky factor with
+O(n) storage, where as a bad ordering will result in an completely
+dense factor.
+
+Ceres allows the user to provide varying amounts of hints to the
+solver about the variable elimination ordering to use. This can range
+from no hints, where the solver is free to decide the best ordering
+based on the user's choices like the linear solver being used, to an
+exact order in which the variables should be eliminated, and a variety
+of possibilities in between.
+
+Instances of the \texttt{ParameterBlockOrdering} class are used to communicate this
+information to Ceres.
+
+Formally an ordering is an ordered partitioning of the parameter
+blocks. Each parameter block belongs to exactly one group, and
+each group has a unique integer associated with it, that determines
+its order in the set of groups. We call these groups {\em elimination
+ groups}.
+
+Given such an ordering, Ceres ensures that the parameter blocks in the
+lowest numbered elimination group are eliminated first, and then the
+parameter blocks in the next lowest numbered elimination group and so
+on. Within each elimination group, Ceres is free to order the
+parameter blocks as it chooses. e.g. Consider the linear system
+
+\begin{align}
+x + y &= 3\\
+ 2x + 3y &= 7
+\end{align}
+
+There are two ways in which it can be solved. First eliminating $x$
+from the two equations, solving for y and then back substituting
+for $x$, or first eliminating $y$, solving for $x$ and back substituting
+for $y$. The user can construct three orderings here.
+
+\begin{enumerate}
+\item $\{0: x\}, \{1: y\}$: Eliminate $x$ first.
+\item $\{0: y\}, \{1: x\}$: Eliminate $y$ first.
+\item $\{0: x, y\}$: Solver gets to decide the elimination order.
+\end{enumerate}
+
+Thus, to have Ceres determine the ordering automatically using
+heuristics, put all the variables in the same elimination group. The
+identity of the group does not matter. This is the same as not
+specifying an ordering at all. To control the ordering for every
+variable, create an elimination group per variable, ordering them in
+the desired order.
+
+If the user is using one of the Schur solvers (\texttt{DENSE\_SCHUR},
+\texttt{SPARSE\_SCHUR},\ \texttt{ITERATIVE\_SCHUR}) and chooses to
+specify an ordering, it must have one important property. The lowest
+numbered elimination group must form an independent set in the graph
+corresponding to the Hessian, or in other words, no two parameter
+blocks in in the first elimination group should co-occur in the same
+residual block. For the best performance, this elimination group
+should be as large as possible. For standard bundle adjustment
+problems, this corresponds to the first elimination group containing
+all the 3d points, and the second containing the all the cameras
+parameter blocks.
+
+If the user leaves the choice to Ceres, then the solver uses an
+approximate maximum independent set algorithm to identify the first
+elimination group~\cite{li2007miqr} .
+\section{\texttt{Solver::Options}}
+
+\texttt{Solver::Options} controls the overall behavior of the
+solver. We list the various settings and their default values below.
+
+\begin{enumerate}
+
+\item{\texttt{trust\_region\_strategy\_type }}
+ (\texttt{LEVENBERG\_MARQUARDT}) The trust region step computation
+ algorithm used by Ceres. Currently \texttt{LEVENBERG\_MARQUARDT }
+ and \texttt{DOGLEG} are the two valid choices.
+
+\item{\texttt{dogleg\_type}} (\texttt{TRADITIONAL\_DOGLEG}) Ceres
+ supports two different dogleg strategies.
+ \texttt{TRADITIONAL\_DOGLEG} method by Powell and the
+ \texttt{SUBSPACE\_DOGLEG} method described by Byrd et al.
+~\cite{byrd1988approximate}. See Section~\ref{sec:dogleg} for more details.
+
+\item{\texttt{use\_nonmonotoic\_steps}} (\texttt{false})
+Relax the requirement that the trust-region algorithm take strictly
+decreasing steps. See Section~\ref{sec:non-monotonic} for more details.
+
+\item{\texttt{max\_consecutive\_nonmonotonic\_steps}} (5)
+The window size used by the step selection algorithm to accept
+non-monotonic steps.
+
+\item{\texttt{max\_num\_iterations }}(\texttt{50}) Maximum number of
+ iterations for Levenberg-Marquardt.
+
+\item{\texttt{max\_solver\_time\_in\_seconds }} ($10^9$) Maximum
+ amount of time for which the solver should run.
+
+\item{\texttt{num\_threads }}(\texttt{1}) Number of threads used by
+ Ceres to evaluate the Jacobian.
+
+\item{\texttt{initial\_trust\_region\_radius } ($10^4$)} The size of
+ the initial trust region. When the \texttt{LEVENBERG\_MARQUARDT}
+ strategy is used, the reciprocal of this number is the initial
+ regularization parameter.
+
+\item{\texttt{max\_trust\_region\_radius } ($10^{16}$)} The trust
+ region radius is not allowed to grow beyond this value.
+
+\item{\texttt{min\_trust\_region\_radius } ($10^{-32}$)} The solver
+ terminates, when the trust region becomes smaller than this value.
+
+\item{\texttt{min\_relative\_decrease }}($10^{-3}$) Lower threshold
+ for relative decrease before a Levenberg-Marquardt step is acceped.
+
+\item{\texttt{lm\_min\_diagonal } ($10^6$)} The
+ \texttt{LEVENBERG\_MARQUARDT} strategy, uses a diagonal matrix to
+ regularize the the trust region step. This is the lower bound on the
+ values of this diagonal matrix.
+
+\item{\texttt{lm\_max\_diagonal } ($10^{32}$)} The
+ \texttt{LEVENBERG\_MARQUARDT} strategy, uses a diagonal matrix to
+ regularize the the trust region step. This is the upper bound on the
+ values of this diagonal matrix.
+
+\item{\texttt{max\_num\_consecutive\_invalid\_steps } (5)} The step
+ returned by a trust region strategy can sometimes be numerically
+ invalid, usually because of conditioning issues. Instead of crashing
+ or stopping the optimization, the optimizer can go ahead and try
+ solving with a smaller trust region/better conditioned problem. This
+ parameter sets the number of consecutive retries before the
+ minimizer gives up.
+
+\item{\texttt{function\_tolerance }}($10^{-6}$) Solver terminates if
+\begin{align}
+\frac{|\Delta \text{cost}|}{\text{cost}} < \texttt{function\_tolerance}
+\end{align}
+where, $\Delta \text{cost}$ is the change in objective function value
+(up or down) in the current iteration of Levenberg-Marquardt.
+
+\item \texttt{Solver::Options::gradient\_tolerance } Solver terminates if
+\begin{equation}
+ \frac{\|g(x)\|_\infty}{\|g(x_0)\|_\infty} < \texttt{gradient\_tolerance}
+\end{equation}
+where $\|\cdot\|_\infty$ refers to the max norm, and $x_0$ is the vector of initial parameter values.
+
+\item{\texttt{parameter\_tolerance }}($10^{-8}$) Solver terminates if
+\begin{equation}
+ \frac{\|\Delta x\|}{\|x\| + \texttt{parameter\_tolerance}} < \texttt{parameter\_tolerance}
+\end{equation}
+where $\Delta x$ is the step computed by the linear solver in the current iteration of Levenberg-Marquardt.
+
+\item{\texttt{linear\_solver\_type }(\texttt{SPARSE\_NORMAL\_CHOLESKY})}
+
+\item{\texttt{linear\_solver\_type
+ }}(\texttt{SPARSE\_NORMAL\_CHOLESKY}/\texttt{DENSE\_QR}) Type of
+ linear solver used to compute the solution to the linear least
+ squares problem in each iteration of the Levenberg-Marquardt
+ algorithm. If Ceres is build with \suitesparse linked in then the
+ default is \texttt{SPARSE\_NORMAL\_CHOLESKY}, it is
+ \texttt{DENSE\_QR} otherwise.
+
+\item{\texttt{preconditioner\_type }}(\texttt{JACOBI}) The
+ preconditioner used by the iterative linear solver. The default is
+ the block Jacobi preconditioner. Valid values are (in increasing
+ order of complexity) \texttt{IDENTITY},\texttt{JACOBI},
+ \texttt{SCHUR\_JACOBI}, \texttt{CLUSTER\_JACOBI} and
+ \texttt{CLUSTER\_TRIDIAGONAL}.
+
+\item{\texttt{sparse\_linear\_algebra\_library }
+ (\texttt{SUITE\_SPARSE})} Ceres supports the use of two sparse
+ linear algebra libraries, \texttt{SuiteSparse}, which is enabled by
+ setting this parameter to \texttt{SUITE\_SPARSE} and
+ \texttt{CXSparse}, which can be selected by setting this parameter
+ to $\texttt{CX\_SPARSE}$. \texttt{SuiteSparse} is a sophisticated
+ and complex sparse linear algebra library and should be used in
+ general. If your needs/platforms prevent you from using
+ \texttt{SuiteSparse}, consider using \texttt{CXSparse}, which is a
+ much smaller, easier to build library. As can be expected, its
+ performance on large problems is not comparable to that of
+ \texttt{SuiteSparse}.
+
+
+\item{\texttt{num\_linear\_solver\_threads }}(\texttt{1}) Number of
+ threads used by the linear solver.
+
+\item{\texttt{use\_inner\_iterations} (\texttt{false}) } Use a
+ non-linear version of a simplified variable projection
+ algorithm. Essentially this amounts to doing a further optimization
+ on each Newton/Trust region step using a coordinate descent
+ algorithm. For more details, see the discussion in ~\ref{sec:inner}
+
+\item{\texttt{inner\_iteration\_ordering} (\texttt{NULL})} If
+ \texttt{Solver::Options::inner\_iterations} is true, then the user
+ has two choices.
+
+\begin{enumerate}
+\item Let the solver heuristically decide which parameter blocks to
+ optimize in each inner iteration. To do this, set
+ \texttt{inner\_iteration\_ordering} to {\texttt{NULL}}.
+
+\item Specify a collection of of ordered independent sets. The lower
+ numbered groups are optimized before the higher number groups during
+ the inner optimization phase. Each group must be an independent set.
+\end{enumerate}
+
+\item{\texttt{linear\_solver\_ordering} (\texttt{NULL})} An instance
+ of the ordering object informs the solver about the desired order in
+ which parameter blocks should be eliminated by the linear
+ solvers. See section~\ref{sec:ordering} for more details.
+
+ If \texttt{NULL}, the solver is free to choose an ordering that it
+ thinks is best. Note: currently, this option only has an effect on
+ the Schur type solvers, support for the
+ \texttt{SPARSE\_NORMAL\_CHOLESKY} solver is forth coming.
+
+\item{\texttt{use\_block\_amd } (\texttt{true})} By virtue of the
+ modeling layer in Ceres being block oriented, all the matrices used
+ by Ceres are also block oriented. When doing sparse direct
+ factorization of these matrices, the fill-reducing ordering
+ algorithms can either be run on the block or the scalar form of
+ these matrices. Running it on the block form exposes more of the
+ super-nodal structure of the matrix to the Cholesky factorization
+ routines. This leads to substantial gains in factorization
+ performance. Setting this parameter to true, enables the use of a
+ block oriented Approximate Minimum Degree ordering
+ algorithm. Settings it to \texttt{false}, uses a scalar AMD
+ algorithm. This option only makes sense when using
+ \texttt{sparse\_linear\_algebra\_library = SUITE\_SPARSE} as it uses
+ the \texttt{AMD} package that is part of \texttt{SuiteSparse}.
+
+\item{\texttt{linear\_solver\_min\_num\_iterations }}(\texttt{1})
+ Minimum number of iterations used by the linear solver. This only
+ makes sense when the linear solver is an iterative solver, e.g.,
+ \texttt{ITERATIVE\_SCHUR}.
+
+\item{\texttt{linear\_solver\_max\_num\_iterations }}(\texttt{500})
+ Minimum number of iterations used by the linear solver. This only
+ makes sense when the linear solver is an iterative solver, e.g.,
+ \texttt{ITERATIVE\_SCHUR}.
+
+\item{\texttt{eta }} ($10^{-1}$)
+ Forcing sequence parameter. The truncated Newton solver uses this
+ number to control the relative accuracy with which the Newton step is
+ computed. This constant is passed to ConjugateGradientsSolver which
+ uses it to terminate the iterations when
+\begin{equation}
+\frac{Q_i - Q_{i-1}}{Q_i} < \frac{\eta}{i}
+\end{equation}
+
+\item{\texttt{jacobi\_scaling }}(\texttt{true}) \texttt{true} means
+ that the Jacobian is scaled by the norm of its columns before being
+ passed to the linear solver. This improves the numerical
+ conditioning of the normal equations.
+
+\item{\texttt{logging\_type }}(\texttt{PER\_MINIMIZER\_ITERATION})
+
+
+\item{\texttt{minimizer\_progress\_to\_stdout }}(\texttt{false})
+By default the Minimizer progress is logged to \texttt{STDERR}
+depending on the \texttt{vlog} level. If this flag is
+set to true, and \texttt{logging\_type } is not \texttt{SILENT}, the
+logging output
+is sent to \texttt{STDOUT}.
+
+\item{\texttt{return\_initial\_residuals }}(\texttt{false})
+\item{\texttt{return\_final\_residuals }}(\texttt{false})
+If true, the vectors \texttt{Solver::Summary::initial\_residuals } and
+\texttt{Solver::Summary::final\_residuals } are filled with the
+residuals before and after the optimization. The entries of these
+vectors are in the order in which ResidualBlocks were added to the
+Problem object.
+
+\item{\texttt{return\_initial\_gradient }}(\texttt{false})
+\item{\texttt{return\_final\_gradient }}(\texttt{false})
+If true, the vectors \texttt{Solver::Summary::initial\_gradient } and
+\texttt{Solver::Summary::final\_gradient } are filled with the
+gradient before and after the optimization. The entries of these
+vectors are in the order in which ParameterBlocks were added to the
+Problem object.
+
+Since \texttt{AddResidualBlock } adds ParameterBlocks to the
+\texttt{Problem } automatically if they do not already exist, if you
+wish to have explicit control over the ordering of the vectors, then
+use \texttt{Problem::AddParameterBlock } to explicitly add the
+ParameterBlocks in the order desired.
+
+\item{\texttt{return\_initial\_jacobian }}(\texttt{false})
+\item{\texttt{return\_initial\_jacobian }}(\texttt{false})
+If true, the Jacobian matrices before and after the optimization are
+returned in \texttt{Solver::Summary::initial\_jacobian } and
+\texttt{Solver::Summary::final\_jacobian } respectively.
+
+The rows of these matrices are in the same order in which the
+ResidualBlocks were added to the Problem object. The columns are in
+the same order in which the ParameterBlocks were added to the Problem
+object.
+
+Since \texttt{AddResidualBlock } adds ParameterBlocks to the
+\texttt{Problem } automatically if they do not already exist, if you
+wish to have explicit control over the column ordering of the matrix,
+then use \texttt{Problem::AddParameterBlock } to explicitly add the
+ParameterBlocks in the order desired.
+
+The Jacobian matrices are stored as compressed row sparse
+matrices. Please see \texttt{ceres/crs\_matrix.h } for more details of
+the format.
+
+\item{\texttt{lsqp\_iterations\_to\_dump }} List of iterations at
+ which the optimizer should dump the linear least squares problem to
+ disk. Useful for testing and benchmarking. If empty (default), no
+ problems are dumped.
+
+\item{\texttt{lsqp\_dump\_directory }} (\texttt{/tmp})
+ If \texttt{lsqp\_iterations\_to\_dump} is non-empty, then this
+ setting determines the directory to which the files containing the
+ linear least squares problems are written to.
+
+
+\item{\texttt{lsqp\_dump\_format }}(\texttt{TEXTFILE}) The format in
+ which linear least squares problems should be logged
+when \texttt{lsqp\_iterations\_to\_dump} is non-empty. There are three options
+\begin{itemize}
+\item{\texttt{CONSOLE }} prints the linear least squares problem in a human readable format
+ to \texttt{stderr}. The Jacobian is printed as a dense matrix. The vectors
+ $D$, $x$ and $f$ are printed as dense vectors. This should only be used
+ for small problems.
+\item{\texttt{PROTOBUF }}
+ Write out the linear least squares problem to the directory
+ pointed to by \texttt{lsqp\_dump\_directory} as a protocol
+ buffer. \texttt{linear\_least\_squares\_problems.h/cc} contains routines for
+ loading these problems. For details on the on disk format used,
+ see \texttt{matrix.proto}. The files are named
+ \texttt{lm\_iteration\_???.lsqp}. This requires that
+ \texttt{protobuf} be linked into Ceres Solver.
+\item{\texttt{TEXTFILE }}
+ Write out the linear least squares problem to the directory
+ pointed to by \texttt{lsqp\_dump\_directory} as text files
+ which can be read into \texttt{MATLAB/Octave}. The Jacobian is dumped as a
+ text file containing $(i,j,s)$ triplets, the vectors $D$, $x$ and $f$ are
+ dumped as text files containing a list of their values.
+
+ A \texttt{MATLAB/Octave} script called \texttt{lm\_iteration\_???.m} is also output,
+ which can be used to parse and load the problem into memory.
+\end{itemize}
+
+
+
+\item{\texttt{check\_gradients }}(\texttt{false})
+ Check all Jacobians computed by each residual block with finite
+ differences. This is expensive since it involves computing the
+ derivative by normal means (e.g. user specified, autodiff,
+ etc), then also computing it using finite differences. The
+ results are compared, and if they differ substantially, details
+ are printed to the log.
+
+\item{\texttt{gradient\_check\_relative\_precision }} ($10^{-8}$)
+ Relative precision to check for in the gradient checker. If the
+ relative difference between an element in a Jacobian exceeds
+ this number, then the Jacobian for that cost term is dumped.
+
+\item{\texttt{numeric\_derivative\_relative\_step\_size }} ($10^{-6}$)
+ Relative shift used for taking numeric derivatives. For finite
+ differencing, each dimension is evaluated at slightly shifted
+ values, \eg for forward differences, the numerical derivative is
+
+\begin{align}
+ \delta &= \texttt{numeric\_derivative\_relative\_step\_size}\\
+ \Delta f &= \frac{f((1 + \delta) x) - f(x)}{\delta x}
+\end{align}
+
+The finite differencing is done along each dimension. The
+reason to use a relative (rather than absolute) step size is
+that this way, numeric differentiation works for functions where
+the arguments are typically large (e.g. $10^9$) and when the
+values are small (e.g. $10^{-5}$). It is possible to construct
+"torture cases" which break this finite difference heuristic,
+but they do not come up often in practice.
+
+\item{\texttt{callbacks }}
+ Callbacks that are executed at the end of each iteration of the
+\texttt{Minimizer}. They are executed in the order that they are
+specified in this vector. By default, parameter blocks are
+updated only at the end of the optimization, i.e when the
+\texttt{Minimizer} terminates. This behavior is controlled by
+\texttt{update\_state\_every\_variable}. If the user wishes to have access
+to the update parameter blocks when his/her callbacks are
+executed, then set \texttt{update\_state\_every\_iteration} to true.
+
+The solver does NOT take ownership of these pointers.
+
+\item{\texttt{update\_state\_every\_iteration }}(\texttt{false})
+Normally the parameter blocks are only updated when the solver
+terminates. Setting this to true update them in every iteration. This
+setting is useful when building an interactive application using Ceres
+and using an \texttt{IterationCallback}.
+
+\item{\texttt{solver\_log}} If non-empty, a summary of the execution of the solver is
+ recorded to this file. This file is used for recording and Ceres'
+ performance. Currently, only the iteration number, total
+ time and the objective function value are logged. The format of this
+ file is expected to change over time as the performance evaluation
+ framework is fleshed out.
+\end{enumerate}
+
+\section{\texttt{Solver::Summary}}
+TBD
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
new file mode 100644
index 0000000..2307a03
--- /dev/null
+++ b/examples/CMakeLists.txt
@@ -0,0 +1,66 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+# http://code.google.com/p/ceres-solver/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+# used to endorse or promote products derived from this software without
+# specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: keir@google.com (Keir Mierle)
+
+IF (${GFLAGS})
+ ADD_EXECUTABLE(quadratic quadratic.cc)
+ TARGET_LINK_LIBRARIES(quadratic ceres)
+
+ ADD_EXECUTABLE(nist nist.cc)
+ TARGET_LINK_LIBRARIES(nist ceres)
+
+ ADD_EXECUTABLE(quadratic_auto_diff quadratic_auto_diff.cc)
+ TARGET_LINK_LIBRARIES(quadratic_auto_diff ceres)
+
+ ADD_EXECUTABLE(quadratic_numeric_diff quadratic_numeric_diff.cc)
+ TARGET_LINK_LIBRARIES(quadratic_numeric_diff ceres)
+
+ ADD_EXECUTABLE(powell powell.cc)
+ TARGET_LINK_LIBRARIES(powell ceres)
+
+ ADD_EXECUTABLE(circle_fit circle_fit.cc)
+ TARGET_LINK_LIBRARIES(circle_fit ceres)
+
+ ADD_EXECUTABLE(data_fitting data_fitting.cc)
+ TARGET_LINK_LIBRARIES(data_fitting ceres)
+
+ ADD_EXECUTABLE(bundle_adjuster
+ bundle_adjuster.cc
+ bal_problem.cc)
+ TARGET_LINK_LIBRARIES(bundle_adjuster ceres)
+
+ ADD_EXECUTABLE(denoising
+ denoising.cc
+ fields_of_experts.cc)
+ TARGET_LINK_LIBRARIES(denoising ceres)
+ENDIF (${GFLAGS})
+
+ADD_EXECUTABLE(simple_bundle_adjuster
+ simple_bundle_adjuster.cc)
+TARGET_LINK_LIBRARIES(simple_bundle_adjuster ceres)
diff --git a/examples/Makefile.example b/examples/Makefile.example
new file mode 100644
index 0000000..3f303d6
--- /dev/null
+++ b/examples/Makefile.example
@@ -0,0 +1,82 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2012 Google Inc. All rights reserved.
+# http://code.google.com/p/ceres-solver/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+# used to endorse or promote products derived from this software without
+# specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: keir@google.com (Keir Mierle)
+#
+# This is an example Makefile for using Ceres. In practice, the Ceres authors
+# suggest using CMake instead, but if Make is needed for some reason, this
+# example serves to make it easy to do so.
+
+# This should point to place where you unpacked or cloned Ceres.
+CERES_SRC_DIR := /home/keir/wrk/ceres-extra
+
+# This should point to the place where you built Ceres. If you got Ceres by
+# installing it, then this will likely be /usr/local/lib.
+CERES_BIN_DIR := /home/keir/wrk/ceres-extra-bin
+
+# The place you unpacked or cloned Eigen. If Eigen was installed from packages,
+# this will likely be /usr/local/include.
+EIGEN_SRC_DIR := /home/keir/src/eigen-3.0.5
+
+INCLUDES := -I$(CERES_SRC_DIR)/include \
+ -I$(EIGEN_SRC_DIR)
+
+CERES_LIBRARY := -lceres
+CERES_LIBRARY_PATH := -L$(CERES_BIN_DIR)/lib
+CERES_LIBRARY_DEPENDENCIES = -lgflags -lglog
+
+# If Ceres was built with Suitesparse:
+CERES_LIBRARY_DEPENDENCIES += -llapack -lcamd -lamd -lccolamd -lcolamd -lcholmod
+
+# If Ceres was built with CXSparse:
+CERES_LIBRARY_DEPENDENCIES += -lcxsparse
+
+# If Ceres was built with OpenMP:
+CERES_LIBRARY_DEPENDENCIES += -fopenmp -lpthread -lgomp -lm
+
+# The set of object files for your application.
+APPLICATION_OBJS := simple_bundle_adjuster.o
+
+all: simple_bundle_adjuster
+
+simple_bundle_adjuster: $(APPLICATION_OBJS)
+ g++ \
+ $(APPLICATION_OBJS) \
+ $(CERES_LIBRARY_PATH) \
+ $(CERES_LIBRARY) \
+ $(CERES_LIBRARY_DEPENDENCIES) \
+ -o simple_bundle_adjuster
+
+# Disabling debug asserts via -DNDEBUG helps make Eigen faster, at the cost of
+# not getting handy assert failures when there are issues in your code.
+CFLAGS := -O2 -DNDEBUG
+
+# If you have files ending in .cpp instead of .cc, fix the next line
+# appropriately.
+%.o: %.cc $(DEPS)
+ g++ -c -o $@ $< $(CFLAGS) $(INCLUDES)
diff --git a/examples/bal_problem.cc b/examples/bal_problem.cc
new file mode 100644
index 0000000..5733f46
--- /dev/null
+++ b/examples/bal_problem.cc
@@ -0,0 +1,301 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "bal_problem.h"
+
+#include <cstdio>
+#include <cstdlib>
+#include <string>
+#include <vector>
+#include "Eigen/Core"
+#include "ceres/random.h"
+#include "ceres/rotation.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace examples {
+namespace {
+typedef Eigen::Map<Eigen::VectorXd> VectorRef;
+typedef Eigen::Map<const Eigen::VectorXd> ConstVectorRef;
+
+template<typename T>
+void FscanfOrDie(FILE* fptr, const char* format, T* value) {
+ int num_scanned = fscanf(fptr, format, value);
+ if (num_scanned != 1) {
+ LOG(FATAL) << "Invalid UW data file.";
+ }
+}
+
+void PerturbPoint3(const double sigma, double* point) {
+ for (int i = 0; i < 3; ++i) {
+ point[i] += RandNormal() * sigma;
+ }
+}
+
+double Median(std::vector<double>* data) {
+ int n = data->size();
+ std::vector<double>::iterator mid_point = data->begin() + n / 2;
+ std::nth_element(data->begin(), mid_point, data->end());
+ return *mid_point;
+}
+
+} // namespace
+
+BALProblem::BALProblem(const std::string& filename, bool use_quaternions) {
+ FILE* fptr = fopen(filename.c_str(), "r");
+
+ if (fptr == NULL) {
+ LOG(FATAL) << "Error: unable to open file " << filename;
+ return;
+ };
+
+ // This wil die horribly on invalid files. Them's the breaks.
+ FscanfOrDie(fptr, "%d", &num_cameras_);
+ FscanfOrDie(fptr, "%d", &num_points_);
+ FscanfOrDie(fptr, "%d", &num_observations_);
+
+ VLOG(1) << "Header: " << num_cameras_
+ << " " << num_points_
+ << " " << num_observations_;
+
+ point_index_ = new int[num_observations_];
+ camera_index_ = new int[num_observations_];
+ observations_ = new double[2 * num_observations_];
+
+ num_parameters_ = 9 * num_cameras_ + 3 * num_points_;
+ parameters_ = new double[num_parameters_];
+
+ for (int i = 0; i < num_observations_; ++i) {
+ FscanfOrDie(fptr, "%d", camera_index_ + i);
+ FscanfOrDie(fptr, "%d", point_index_ + i);
+ for (int j = 0; j < 2; ++j) {
+ FscanfOrDie(fptr, "%lf", observations_ + 2*i + j);
+ }
+ }
+
+ for (int i = 0; i < num_parameters_; ++i) {
+ FscanfOrDie(fptr, "%lf", parameters_ + i);
+ }
+
+ fclose(fptr);
+
+ use_quaternions_ = use_quaternions;
+ if (use_quaternions) {
+ // Switch the angle-axis rotations to quaternions.
+ num_parameters_ = 10 * num_cameras_ + 3 * num_points_;
+ double* quaternion_parameters = new double[num_parameters_];
+ double* original_cursor = parameters_;
+ double* quaternion_cursor = quaternion_parameters;
+ for (int i = 0; i < num_cameras_; ++i) {
+ AngleAxisToQuaternion(original_cursor, quaternion_cursor);
+ quaternion_cursor += 4;
+ original_cursor += 3;
+ for (int j = 4; j < 10; ++j) {
+ *quaternion_cursor++ = *original_cursor++;
+ }
+ }
+ // Copy the rest of the points.
+ for (int i = 0; i < 3 * num_points_; ++i) {
+ *quaternion_cursor++ = *original_cursor++;
+ }
+ // Swap in the quaternion parameters.
+ delete []parameters_;
+ parameters_ = quaternion_parameters;
+ }
+}
+
+// This function writes the problem to a file in the same format that
+// is read by the constructor.
+void BALProblem::WriteToFile(const std::string& filename) const {
+ FILE* fptr = fopen(filename.c_str(), "w");
+
+ if (fptr == NULL) {
+ LOG(FATAL) << "Error: unable to open file " << filename;
+ return;
+ };
+
+ fprintf(fptr, "%d %d %d\n", num_cameras_, num_points_, num_observations_);
+
+ for (int i = 0; i < num_observations_; ++i) {
+ fprintf(fptr, "%d %d", camera_index_[i], point_index_[i]);
+ for (int j = 0; j < 2; ++j) {
+ fprintf(fptr, " %g", observations_[2 * i + j]);
+ }
+ fprintf(fptr, "\n");
+ }
+
+ for (int i = 0; i < num_cameras(); ++i) {
+ double angleaxis[9];
+ if (use_quaternions_) {
+ // Output in angle-axis format.
+ QuaternionToAngleAxis(parameters_ + 10 * i, angleaxis);
+ memcpy(angleaxis + 3, parameters_ + 10 * i + 4, 6 * sizeof(double));
+ } else {
+ memcpy(angleaxis, parameters_ + 9 * i, 9 * sizeof(double));
+ }
+ for (int j = 0; j < 9; ++j) {
+ fprintf(fptr, "%.16g\n", angleaxis[j]);
+ }
+ }
+
+ const double* points = parameters_ + camera_block_size() * num_cameras_;
+ for (int i = 0; i < num_points(); ++i) {
+ const double* point = points + i * point_block_size();
+ for (int j = 0; j < point_block_size(); ++j) {
+ fprintf(fptr, "%.16g\n", point[j]);
+ }
+ }
+
+ fclose(fptr);
+}
+
+void BALProblem::CameraToAngleAxisAndCenter(const double* camera,
+ double* angle_axis,
+ double* center) {
+ VectorRef angle_axis_ref(angle_axis, 3);
+ if (use_quaternions_) {
+ QuaternionToAngleAxis(camera, angle_axis);
+ } else {
+ angle_axis_ref = ConstVectorRef(camera, 3);
+ }
+
+ // c = -R't
+ Eigen::VectorXd inverse_rotation = -angle_axis_ref;
+ AngleAxisRotatePoint(inverse_rotation.data(),
+ camera + camera_block_size() - 6,
+ center);
+ VectorRef(center, 3) *= -1.0;
+}
+
+void BALProblem::AngleAxisAndCenterToCamera(const double* angle_axis,
+ const double* center,
+ double* camera) {
+ ConstVectorRef angle_axis_ref(angle_axis, 3);
+ if (use_quaternions_) {
+ AngleAxisToQuaternion(angle_axis, camera);
+ } else {
+ VectorRef(camera, 3) = angle_axis_ref;
+ }
+
+ // t = -R * c
+ AngleAxisRotatePoint(angle_axis,
+ center,
+ camera + camera_block_size() - 6);
+ VectorRef(camera + camera_block_size() - 6, 3) *= -1.0;
+}
+
+
+void BALProblem::Normalize() {
+ // Compute the marginal median of the geometry.
+ std::vector<double> tmp(num_points_);
+ Eigen::Vector3d median;
+ double* points = mutable_points();
+ for (int i = 0; i < 3; ++i) {
+ for (int j = 0; j < num_points_; ++j) {
+ tmp[j] = points[3 * j + i];
+ }
+ median(i) = Median(&tmp);
+ }
+
+ for (int i = 0; i < num_points_; ++i) {
+ VectorRef point(points + 3 * i, 3);
+ tmp[i] = (point - median).lpNorm<1>();
+ }
+
+ const double median_absolute_deviation = Median(&tmp);
+
+ // Scale so that the median absolute deviation of the resulting
+ // reconstruction is 100.
+ const double scale = 100.0 / median_absolute_deviation;
+
+ VLOG(2) << "median: " << median.transpose();
+ VLOG(2) << "median absolute deviation: " << median_absolute_deviation;
+ VLOG(2) << "scale: " << scale;
+
+ // X = scale * (X - median)
+ for (int i = 0; i < num_points_; ++i) {
+ VectorRef point(points + 3 * i, 3);
+ point = scale * (point - median);
+ }
+
+ double* cameras = mutable_cameras();
+ double angle_axis[3];
+ double center[3];
+ for (int i = 0; i < num_cameras_; ++i) {
+ double* camera = cameras + camera_block_size() * i;
+ CameraToAngleAxisAndCenter(camera, angle_axis, center);
+ // center = scale * (center - median)
+ VectorRef(center, 3) = scale * (VectorRef(center, 3) - median);
+ AngleAxisAndCenterToCamera(angle_axis, center, camera);
+ }
+}
+
+void BALProblem::Perturb(const double rotation_sigma,
+ const double translation_sigma,
+ const double point_sigma) {
+ CHECK_GE(point_sigma, 0.0);
+ CHECK_GE(rotation_sigma, 0.0);
+ CHECK_GE(translation_sigma, 0.0);
+
+ double* points = mutable_points();
+ if (point_sigma > 0) {
+ for (int i = 0; i < num_points_; ++i) {
+ PerturbPoint3(point_sigma, points + 3 * i);
+ }
+ }
+
+ for (int i = 0; i < num_cameras_; ++i) {
+ double* camera = mutable_cameras() + camera_block_size() * i;
+
+ double angle_axis[3];
+ double center[3];
+ // Perturb in the rotation of the camera in the angle-axis
+ // representation.
+ CameraToAngleAxisAndCenter(camera, angle_axis, center);
+ if (rotation_sigma > 0.0) {
+ PerturbPoint3(rotation_sigma, angle_axis);
+ }
+ AngleAxisAndCenterToCamera(angle_axis, center, camera);
+
+ if (translation_sigma > 0.0) {
+ PerturbPoint3(translation_sigma, camera + camera_block_size() - 6);
+ }
+ }
+}
+
+BALProblem::~BALProblem() {
+ delete []point_index_;
+ delete []camera_index_;
+ delete []observations_;
+ delete []parameters_;
+}
+
+} // namespace examples
+} // namespace ceres
diff --git a/examples/bal_problem.h b/examples/bal_problem.h
new file mode 100644
index 0000000..9173246
--- /dev/null
+++ b/examples/bal_problem.h
@@ -0,0 +1,107 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Class for loading and holding in memory bundle adjustment problems
+// from the BAL (Bundle Adjustment in the Large) dataset from the
+// University of Washington.
+//
+// For more details see http://grail.cs.washington.edu/projects/bal/
+
+#ifndef CERES_EXAMPLES_BAL_PROBLEM_H_
+#define CERES_EXAMPLES_BAL_PROBLEM_H_
+
+#include <string>
+
+namespace ceres {
+namespace examples {
+
+class BALProblem {
+ public:
+ explicit BALProblem(const std::string& filename, bool use_quaternions);
+ ~BALProblem();
+
+ void WriteToFile(const std::string& filename) const;
+
+ // Move the "center" of the reconstruction to the origin, where the
+ // center is determined by computing the marginal median of the
+ // points. The reconstruction is then scaled so that the median
+ // absolute deviation of the points measured from the origin is
+ // 100.0.
+ //
+ // The reprojection error of the problem remains the same.
+ void Normalize();
+
+ // Perturb the camera pose and the geometry with random normal
+ // numbers with corresponding standard deviations.
+ void Perturb(const double rotation_sigma,
+ const double translation_sigma,
+ const double point_sigma);
+
+ int camera_block_size() const { return use_quaternions_ ? 10 : 9; }
+ int point_block_size() const { return 3; }
+ int num_cameras() const { return num_cameras_; }
+ int num_points() const { return num_points_; }
+ int num_observations() const { return num_observations_; }
+ int num_parameters() const { return num_parameters_; }
+ const int* point_index() const { return point_index_; }
+ const int* camera_index() const { return camera_index_; }
+ const double* observations() const { return observations_; }
+ const double* parameters() const { return parameters_; }
+ double* mutable_cameras() { return parameters_; }
+ double* mutable_points() {
+ return parameters_ + camera_block_size() * num_cameras_;
+ }
+
+ private:
+ void CameraToAngleAxisAndCenter(const double* camera,
+ double* angle_axis,
+ double* center);
+
+ void AngleAxisAndCenterToCamera(const double* angle_axis,
+ const double* center,
+ double* camera);
+ int num_cameras_;
+ int num_points_;
+ int num_observations_;
+ int num_parameters_;
+ bool use_quaternions_;
+
+ int* point_index_;
+ int* camera_index_;
+ double* observations_;
+ // The parameter vector is laid out as follows
+ // [camera_1, ..., camera_n, point_1, ..., point_m]
+ double* parameters_;
+};
+
+} // namespace examples
+} // namespace ceres
+
+#endif // CERES_EXAMPLES_BAL_PROBLEM_H_
diff --git a/examples/bundle_adjuster.cc b/examples/bundle_adjuster.cc
new file mode 100644
index 0000000..78dbd01
--- /dev/null
+++ b/examples/bundle_adjuster.cc
@@ -0,0 +1,341 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// An example of solving a dynamically sized problem with various
+// solvers and loss functions.
+//
+// For a simpler bare bones example of doing bundle adjustment with
+// Ceres, please see simple_bundle_adjuster.cc.
+//
+// NOTE: This example will not compile without gflags and SuiteSparse.
+//
+// The problem being solved here is known as a Bundle Adjustment
+// problem in computer vision. Given a set of 3d points X_1, ..., X_n,
+// a set of cameras P_1, ..., P_m. If the point X_i is visible in
+// image j, then there is a 2D observation u_ij that is the expected
+// projection of X_i using P_j. The aim of this optimization is to
+// find values of X_i and P_j such that the reprojection error
+//
+// E(X,P) = sum_ij |u_ij - P_j X_i|^2
+//
+// is minimized.
+//
+// The problem used here comes from a collection of bundle adjustment
+// problems published at University of Washington.
+// http://grail.cs.washington.edu/projects/bal
+
+#include <algorithm>
+#include <cmath>
+#include <cstdio>
+#include <cstdlib>
+#include <string>
+#include <vector>
+
+#include "bal_problem.h"
+#include "ceres/ceres.h"
+#include "ceres/random.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+#include "snavely_reprojection_error.h"
+
+DEFINE_string(input, "", "Input File name");
+DEFINE_string(trust_region_strategy, "levenberg_marquardt",
+ "Options are: levenberg_marquardt, dogleg.");
+DEFINE_string(dogleg, "traditional_dogleg", "Options are: traditional_dogleg,"
+ "subspace_dogleg.");
+
+DEFINE_bool(inner_iterations, false, "Use inner iterations to non-linearly "
+ "refine each successful trust region step.");
+
+DEFINE_string(blocks_for_inner_iterations, "automatic", "Options are: "
+ "automatic, cameras, points, cameras,points, points,cameras");
+
+DEFINE_string(linear_solver, "sparse_schur", "Options are: "
+ "sparse_schur, dense_schur, iterative_schur, sparse_normal_cholesky, "
+ "dense_qr, dense_normal_cholesky and cgnr.");
+DEFINE_string(preconditioner, "jacobi", "Options are: "
+ "identity, jacobi, schur_jacobi, cluster_jacobi, "
+ "cluster_tridiagonal.");
+DEFINE_string(sparse_linear_algebra_library, "suite_sparse",
+ "Options are: suite_sparse and cx_sparse.");
+DEFINE_string(ordering, "automatic", "Options are: automatic, user.");
+
+DEFINE_bool(use_quaternions, false, "If true, uses quaternions to represent "
+ "rotations. If false, angle axis is used.");
+DEFINE_bool(use_local_parameterization, false, "For quaternions, use a local "
+ "parameterization.");
+DEFINE_bool(robustify, false, "Use a robust loss function.");
+
+DEFINE_double(eta, 1e-2, "Default value for eta. Eta determines the "
+ "accuracy of each linear solve of the truncated newton step. "
+ "Changing this parameter can affect solve performance.");
+
+DEFINE_bool(use_block_amd, true, "Use a block oriented fill reducing "
+ "ordering.");
+
+DEFINE_int32(num_threads, 1, "Number of threads.");
+DEFINE_int32(num_iterations, 5, "Number of iterations.");
+DEFINE_double(max_solver_time, 1e32, "Maximum solve time in seconds.");
+DEFINE_bool(nonmonotonic_steps, false, "Trust region algorithm can use"
+ " nonmonotic steps.");
+
+DEFINE_double(rotation_sigma, 0.0, "Standard deviation of camera rotation "
+ "perturbation.");
+DEFINE_double(translation_sigma, 0.0, "Standard deviation of the camera "
+ "translation perturbation.");
+DEFINE_double(point_sigma, 0.0, "Standard deviation of the point "
+ "perturbation.");
+DEFINE_int32(random_seed, 38401, "Random seed used to set the state "
+ "of the pseudo random number generator used to generate "
+ "the pertubations.");
+DEFINE_string(solver_log, "", "File to record the solver execution to.");
+
+namespace ceres {
+namespace examples {
+
+void SetLinearSolver(Solver::Options* options) {
+ CHECK(StringToLinearSolverType(FLAGS_linear_solver,
+ &options->linear_solver_type));
+ CHECK(StringToPreconditionerType(FLAGS_preconditioner,
+ &options->preconditioner_type));
+ CHECK(StringToSparseLinearAlgebraLibraryType(
+ FLAGS_sparse_linear_algebra_library,
+ &options->sparse_linear_algebra_library));
+ options->num_linear_solver_threads = FLAGS_num_threads;
+}
+
+void SetOrdering(BALProblem* bal_problem, Solver::Options* options) {
+ const int num_points = bal_problem->num_points();
+ const int point_block_size = bal_problem->point_block_size();
+ double* points = bal_problem->mutable_points();
+
+ const int num_cameras = bal_problem->num_cameras();
+ const int camera_block_size = bal_problem->camera_block_size();
+ double* cameras = bal_problem->mutable_cameras();
+
+ options->use_block_amd = FLAGS_use_block_amd;
+
+ if (options->use_inner_iterations) {
+ if (FLAGS_blocks_for_inner_iterations == "cameras") {
+ LOG(INFO) << "Camera blocks for inner iterations";
+ options->inner_iteration_ordering = new ParameterBlockOrdering;
+ for (int i = 0; i < num_cameras; ++i) {
+ options->inner_iteration_ordering->AddElementToGroup(cameras + camera_block_size * i, 0);
+ }
+ } else if (FLAGS_blocks_for_inner_iterations == "points") {
+ LOG(INFO) << "Point blocks for inner iterations";
+ options->inner_iteration_ordering = new ParameterBlockOrdering;
+ for (int i = 0; i < num_points; ++i) {
+ options->inner_iteration_ordering->AddElementToGroup(points + point_block_size * i, 0);
+ }
+ } else if (FLAGS_blocks_for_inner_iterations == "cameras,points") {
+ LOG(INFO) << "Camera followed by point blocks for inner iterations";
+ options->inner_iteration_ordering = new ParameterBlockOrdering;
+ for (int i = 0; i < num_cameras; ++i) {
+ options->inner_iteration_ordering->AddElementToGroup(cameras + camera_block_size * i, 0);
+ }
+ for (int i = 0; i < num_points; ++i) {
+ options->inner_iteration_ordering->AddElementToGroup(points + point_block_size * i, 1);
+ }
+ } else if (FLAGS_blocks_for_inner_iterations == "points,cameras") {
+ LOG(INFO) << "Point followed by camera blocks for inner iterations";
+ options->inner_iteration_ordering = new ParameterBlockOrdering;
+ for (int i = 0; i < num_cameras; ++i) {
+ options->inner_iteration_ordering->AddElementToGroup(cameras + camera_block_size * i, 1);
+ }
+ for (int i = 0; i < num_points; ++i) {
+ options->inner_iteration_ordering->AddElementToGroup(points + point_block_size * i, 0);
+ }
+ } else if (FLAGS_blocks_for_inner_iterations == "automatic") {
+ LOG(INFO) << "Choosing automatic blocks for inner iterations";
+ } else {
+ LOG(FATAL) << "Unknown block type for inner iterations: "
+ << FLAGS_blocks_for_inner_iterations;
+ }
+ }
+
+ // Bundle adjustment problems have a sparsity structure that makes
+ // them amenable to more specialized and much more efficient
+ // solution strategies. The SPARSE_SCHUR, DENSE_SCHUR and
+ // ITERATIVE_SCHUR solvers make use of this specialized
+ // structure.
+ //
+ // This can either be done by specifying Options::ordering_type =
+ // ceres::SCHUR, in which case Ceres will automatically determine
+ // the right ParameterBlock ordering, or by manually specifying a
+ // suitable ordering vector and defining
+ // Options::num_eliminate_blocks.
+ if (FLAGS_ordering == "automatic") {
+ return;
+ }
+
+ ceres::ParameterBlockOrdering* ordering =
+ new ceres::ParameterBlockOrdering;
+
+ // The points come before the cameras.
+ for (int i = 0; i < num_points; ++i) {
+ ordering->AddElementToGroup(points + point_block_size * i, 0);
+ }
+
+ for (int i = 0; i < num_cameras; ++i) {
+ // When using axis-angle, there is a single parameter block for
+ // the entire camera.
+ ordering->AddElementToGroup(cameras + camera_block_size * i, 1);
+ // If quaternions are used, there are two blocks, so add the
+ // second block to the ordering.
+ if (FLAGS_use_quaternions) {
+ ordering->AddElementToGroup(cameras + camera_block_size * i + 4, 1);
+ }
+ }
+
+ options->linear_solver_ordering = ordering;
+}
+
+void SetMinimizerOptions(Solver::Options* options) {
+ options->max_num_iterations = FLAGS_num_iterations;
+ options->minimizer_progress_to_stdout = true;
+ options->num_threads = FLAGS_num_threads;
+ options->eta = FLAGS_eta;
+ options->max_solver_time_in_seconds = FLAGS_max_solver_time;
+ options->use_nonmonotonic_steps = FLAGS_nonmonotonic_steps;
+ CHECK(StringToTrustRegionStrategyType(FLAGS_trust_region_strategy,
+ &options->trust_region_strategy_type));
+ CHECK(StringToDoglegType(FLAGS_dogleg, &options->dogleg_type));
+ options->use_inner_iterations = FLAGS_inner_iterations;
+}
+
+void SetSolverOptionsFromFlags(BALProblem* bal_problem,
+ Solver::Options* options) {
+ SetMinimizerOptions(options);
+ SetLinearSolver(options);
+ SetOrdering(bal_problem, options);
+}
+
+void BuildProblem(BALProblem* bal_problem, Problem* problem) {
+ const int point_block_size = bal_problem->point_block_size();
+ const int camera_block_size = bal_problem->camera_block_size();
+ double* points = bal_problem->mutable_points();
+ double* cameras = bal_problem->mutable_cameras();
+
+ // Observations is 2*num_observations long array observations =
+ // [u_1, u_2, ... , u_n], where each u_i is two dimensional, the x
+ // and y positions of the observation.
+ const double* observations = bal_problem->observations();
+
+ for (int i = 0; i < bal_problem->num_observations(); ++i) {
+ CostFunction* cost_function;
+ // Each Residual block takes a point and a camera as input and
+ // outputs a 2 dimensional residual.
+ if (FLAGS_use_quaternions) {
+ cost_function = new AutoDiffCostFunction<
+ SnavelyReprojectionErrorWithQuaternions, 2, 4, 6, 3>(
+ new SnavelyReprojectionErrorWithQuaternions(
+ observations[2 * i + 0],
+ observations[2 * i + 1]));
+ } else {
+ cost_function =
+ new AutoDiffCostFunction<SnavelyReprojectionError, 2, 9, 3>(
+ new SnavelyReprojectionError(observations[2 * i + 0],
+ observations[2 * i + 1]));
+ }
+
+ // If enabled use Huber's loss function.
+ LossFunction* loss_function = FLAGS_robustify ? new HuberLoss(1.0) : NULL;
+
+ // Each observation correponds to a pair of a camera and a point
+ // which are identified by camera_index()[i] and point_index()[i]
+ // respectively.
+ double* camera =
+ cameras + camera_block_size * bal_problem->camera_index()[i];
+ double* point = points + point_block_size * bal_problem->point_index()[i];
+
+ if (FLAGS_use_quaternions) {
+ // When using quaternions, we split the camera into two
+ // parameter blocks. One of size 4 for the quaternion and the
+ // other of size 6 containing the translation, focal length and
+ // the radial distortion parameters.
+ problem->AddResidualBlock(cost_function,
+ loss_function,
+ camera,
+ camera + 4,
+ point);
+ } else {
+ problem->AddResidualBlock(cost_function, loss_function, camera, point);
+ }
+ }
+
+ if (FLAGS_use_quaternions && FLAGS_use_local_parameterization) {
+ LocalParameterization* quaternion_parameterization =
+ new QuaternionParameterization;
+ for (int i = 0; i < bal_problem->num_cameras(); ++i) {
+ problem->SetParameterization(cameras + camera_block_size * i,
+ quaternion_parameterization);
+ }
+ }
+}
+
+void SolveProblem(const char* filename) {
+ BALProblem bal_problem(filename, FLAGS_use_quaternions);
+ Problem problem;
+
+ SetRandomState(FLAGS_random_seed);
+ bal_problem.Normalize();
+ bal_problem.Perturb(FLAGS_rotation_sigma,
+ FLAGS_translation_sigma,
+ FLAGS_point_sigma);
+
+ BuildProblem(&bal_problem, &problem);
+ Solver::Options options;
+ SetSolverOptionsFromFlags(&bal_problem, &options);
+ options.solver_log = FLAGS_solver_log;
+ options.gradient_tolerance = 1e-16;
+ options.function_tolerance = 1e-16;
+ Solver::Summary summary;
+ Solve(options, &problem, &summary);
+ std::cout << summary.FullReport() << "\n";
+}
+
+} // namespace examples
+} // namespace ceres
+
+int main(int argc, char** argv) {
+ google::ParseCommandLineFlags(&argc, &argv, true);
+ google::InitGoogleLogging(argv[0]);
+ if (FLAGS_input.empty()) {
+ LOG(ERROR) << "Usage: bundle_adjustment_example --input=bal_problem";
+ return 1;
+ }
+
+ CHECK(FLAGS_use_quaternions || !FLAGS_use_local_parameterization)
+ << "--use_local_parameterization can only be used with "
+ << "--use_quaternions.";
+ ceres::examples::SolveProblem(FLAGS_input.c_str());
+ return 0;
+}
diff --git a/examples/circle_fit.cc b/examples/circle_fit.cc
new file mode 100644
index 0000000..0763806
--- /dev/null
+++ b/examples/circle_fit.cc
@@ -0,0 +1,164 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// This fits circles to a collection of points, where the error is related to
+// the distance of a point from the circle. This uses auto-differentiation to
+// take the derivatives.
+//
+// The input format is simple text. Feed on standard in:
+//
+// x_initial y_initial r_initial
+// x1 y1
+// x2 y2
+// y3 y3
+// ...
+//
+// And the result after solving will be printed to stdout:
+//
+// x y r
+//
+// There are closed form solutions [1] to this problem which you may want to
+// consider instead of using this one. If you already have a decent guess, Ceres
+// can squeeze down the last bit of error.
+//
+// [1] http://www.mathworks.com/matlabcentral/fileexchange/5557-circle-fit/content/circfit.m
+
+#include <cstdio>
+#include <vector>
+
+#include "ceres/ceres.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
+using ceres::AutoDiffCostFunction;
+using ceres::CauchyLoss;
+using ceres::CostFunction;
+using ceres::LossFunction;
+using ceres::Problem;
+using ceres::Solve;
+using ceres::Solver;
+
+DEFINE_double(robust_threshold, 0.0, "Robust loss parameter. Set to 0 for "
+ "normal squared error (no robustification).");
+
+// The cost for a single sample. The returned residual is related to the
+// distance of the point from the circle (passed in as x, y, m parameters).
+//
+// Note that the radius is parameterized as r = m^2 to constrain the radius to
+// positive values.
+class DistanceFromCircleCost {
+ public:
+ DistanceFromCircleCost(double xx, double yy) : xx_(xx), yy_(yy) {}
+ template <typename T> bool operator()(const T* const x,
+ const T* const y,
+ const T* const m, // r = m^2
+ T* residual) const {
+ // Since the radius is parameterized as m^2, unpack m to get r.
+ T r = *m * *m;
+
+ // Get the position of the sample in the circle's coordinate system.
+ T xp = xx_ - *x;
+ T yp = yy_ - *y;
+
+ // It is tempting to use the following cost:
+ //
+ // residual[0] = r - sqrt(xp*xp + yp*yp);
+ //
+ // which is the distance of the sample from the circle. This works
+ // reasonably well, but the sqrt() adds strong nonlinearities to the cost
+ // function. Instead, a different cost is used, which while not strictly a
+ // distance in the metric sense (it has units distance^2) it produces more
+ // robust fits when there are outliers. This is because the cost surface is
+ // more convex.
+ residual[0] = r*r - xp*xp - yp*yp;
+ return true;
+ }
+
+ private:
+ // The measured x,y coordinate that should be on the circle.
+ double xx_, yy_;
+};
+
+int main(int argc, char** argv) {
+ google::ParseCommandLineFlags(&argc, &argv, true);
+ google::InitGoogleLogging(argv[0]);
+
+ double x, y, r;
+ if (scanf("%lg %lg %lg", &x, &y, &r) != 3) {
+ fprintf(stderr, "Couldn't read first line.\n");
+ return 1;
+ }
+ fprintf(stderr, "Got x, y, r %lg, %lg, %lg\n", x, y, r);
+
+ // Save initial values for comparison.
+ double initial_x = x;
+ double initial_y = y;
+ double initial_r = r;
+
+ // Parameterize r as m^2 so that it can't be negative.
+ double m = sqrt(r);
+
+ Problem problem;
+
+ // Configure the loss function.
+ LossFunction* loss = NULL;
+ if (FLAGS_robust_threshold) {
+ loss = new CauchyLoss(FLAGS_robust_threshold);
+ }
+
+ // Add the residuals.
+ double xx, yy;
+ int num_points = 0;
+ while (scanf("%lf %lf\n", &xx, &yy) == 2) {
+ CostFunction *cost =
+ new AutoDiffCostFunction<DistanceFromCircleCost, 1, 1, 1, 1>(
+ new DistanceFromCircleCost(xx, yy));
+ problem.AddResidualBlock(cost, loss, &x, &y, &m);
+ num_points++;
+ }
+
+ std::cout << "Got " << num_points << " points.\n";
+
+ // Build and solve the problem.
+ Solver::Options options;
+ options.max_num_iterations = 500;
+ options.linear_solver_type = ceres::DENSE_QR;
+ Solver::Summary summary;
+ Solve(options, &problem, &summary);
+
+ // Recover r from m.
+ r = m * m;
+
+ std::cout << summary.BriefReport() << "\n";
+ std::cout << "x : " << initial_x << " -> " << x << "\n";
+ std::cout << "y : " << initial_y << " -> " << y << "\n";
+ std::cout << "r : " << initial_r << " -> " << r << "\n";
+ return 0;
+}
diff --git a/examples/data_fitting.cc b/examples/data_fitting.cc
new file mode 100644
index 0000000..5d54123
--- /dev/null
+++ b/examples/data_fitting.cc
@@ -0,0 +1,165 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/ceres.h"
+#include "gflags/gflags.h"
+
+using ceres::AutoDiffCostFunction;
+using ceres::CostFunction;
+using ceres::Problem;
+using ceres::Solver;
+using ceres::Solve;
+
+// Data generated using the following octave code.
+// randn('seed', 23497);
+// m = 0.3;
+// c = 0.1;
+// x=[0:0.075:5];
+// y = exp(m * x + c);
+// noise = randn(size(x)) * 0.2;
+// y_observed = y + noise;
+// data = [x', y_observed'];
+
+const int kNumObservations = 67;
+const double data[] = {
+ 0.000000e+00, 1.133898e+00,
+ 7.500000e-02, 1.334902e+00,
+ 1.500000e-01, 1.213546e+00,
+ 2.250000e-01, 1.252016e+00,
+ 3.000000e-01, 1.392265e+00,
+ 3.750000e-01, 1.314458e+00,
+ 4.500000e-01, 1.472541e+00,
+ 5.250000e-01, 1.536218e+00,
+ 6.000000e-01, 1.355679e+00,
+ 6.750000e-01, 1.463566e+00,
+ 7.500000e-01, 1.490201e+00,
+ 8.250000e-01, 1.658699e+00,
+ 9.000000e-01, 1.067574e+00,
+ 9.750000e-01, 1.464629e+00,
+ 1.050000e+00, 1.402653e+00,
+ 1.125000e+00, 1.713141e+00,
+ 1.200000e+00, 1.527021e+00,
+ 1.275000e+00, 1.702632e+00,
+ 1.350000e+00, 1.423899e+00,
+ 1.425000e+00, 1.543078e+00,
+ 1.500000e+00, 1.664015e+00,
+ 1.575000e+00, 1.732484e+00,
+ 1.650000e+00, 1.543296e+00,
+ 1.725000e+00, 1.959523e+00,
+ 1.800000e+00, 1.685132e+00,
+ 1.875000e+00, 1.951791e+00,
+ 1.950000e+00, 2.095346e+00,
+ 2.025000e+00, 2.361460e+00,
+ 2.100000e+00, 2.169119e+00,
+ 2.175000e+00, 2.061745e+00,
+ 2.250000e+00, 2.178641e+00,
+ 2.325000e+00, 2.104346e+00,
+ 2.400000e+00, 2.584470e+00,
+ 2.475000e+00, 1.914158e+00,
+ 2.550000e+00, 2.368375e+00,
+ 2.625000e+00, 2.686125e+00,
+ 2.700000e+00, 2.712395e+00,
+ 2.775000e+00, 2.499511e+00,
+ 2.850000e+00, 2.558897e+00,
+ 2.925000e+00, 2.309154e+00,
+ 3.000000e+00, 2.869503e+00,
+ 3.075000e+00, 3.116645e+00,
+ 3.150000e+00, 3.094907e+00,
+ 3.225000e+00, 2.471759e+00,
+ 3.300000e+00, 3.017131e+00,
+ 3.375000e+00, 3.232381e+00,
+ 3.450000e+00, 2.944596e+00,
+ 3.525000e+00, 3.385343e+00,
+ 3.600000e+00, 3.199826e+00,
+ 3.675000e+00, 3.423039e+00,
+ 3.750000e+00, 3.621552e+00,
+ 3.825000e+00, 3.559255e+00,
+ 3.900000e+00, 3.530713e+00,
+ 3.975000e+00, 3.561766e+00,
+ 4.050000e+00, 3.544574e+00,
+ 4.125000e+00, 3.867945e+00,
+ 4.200000e+00, 4.049776e+00,
+ 4.275000e+00, 3.885601e+00,
+ 4.350000e+00, 4.110505e+00,
+ 4.425000e+00, 4.345320e+00,
+ 4.500000e+00, 4.161241e+00,
+ 4.575000e+00, 4.363407e+00,
+ 4.650000e+00, 4.161576e+00,
+ 4.725000e+00, 4.619728e+00,
+ 4.800000e+00, 4.737410e+00,
+ 4.875000e+00, 4.727863e+00,
+ 4.950000e+00, 4.669206e+00,
+};
+
+class ExponentialResidual {
+ public:
+ ExponentialResidual(double x, double y)
+ : x_(x), y_(y) {}
+
+ template <typename T> bool operator()(const T* const m,
+ const T* const c,
+ T* residual) const {
+ residual[0] = T(y_) - exp(m[0] * T(x_) + c[0]);
+ return true;
+ }
+
+ private:
+ const double x_;
+ const double y_;
+};
+
+int main(int argc, char** argv) {
+ google::ParseCommandLineFlags(&argc, &argv, true);
+ google::InitGoogleLogging(argv[0]);
+
+ double m = 0.0;
+ double c = 0.0;
+
+ Problem problem;
+ for (int i = 0; i < kNumObservations; ++i) {
+ problem.AddResidualBlock(
+ new AutoDiffCostFunction<ExponentialResidual, 1, 1, 1>(
+ new ExponentialResidual(data[2 * i], data[2 * i + 1])),
+ NULL,
+ &m, &c);
+ }
+
+ Solver::Options options;
+ options.max_num_iterations = 25;
+ options.linear_solver_type = ceres::DENSE_QR;
+ options.minimizer_progress_to_stdout = true;
+
+ Solver::Summary summary;
+ Solve(options, &problem, &summary);
+ std::cout << summary.BriefReport() << "\n";
+ std::cout << "Initial m: " << 0.0 << " c: " << 0.0 << "\n";
+ std::cout << "Final m: " << m << " c: " << c << "\n";
+ return 0;
+}
diff --git a/examples/denoising.cc b/examples/denoising.cc
new file mode 100644
index 0000000..086be00
--- /dev/null
+++ b/examples/denoising.cc
@@ -0,0 +1,214 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: strandmark@google.com (Petter Strandmark)
+//
+// Denoising using Fields of Experts and the Ceres minimizer.
+//
+// Note that for good denoising results the weighting between the data term
+// and the Fields of Experts term needs to be adjusted. This is discussed
+// in [1]. This program assumes Gaussian noise. The noise model can be changed
+// by substituing another function for QuadraticCostFunction.
+//
+// [1] S. Roth and M.J. Black. "Fields of Experts." International Journal of
+// Computer Vision, 82(2):205--229, 2009.
+
+#include <algorithm>
+#include <cmath>
+#include <iostream>
+#include <vector>
+#include <sstream>
+#include <string>
+
+#include "ceres/ceres.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
+#include "fields_of_experts.h"
+#include "pgm_image.h"
+
+DEFINE_string(input, "", "File to which the output image should be written");
+DEFINE_string(foe_file, "", "FoE file to use");
+DEFINE_string(output, "", "File to which the output image should be written");
+DEFINE_double(sigma, 20.0, "Standard deviation of noise");
+DEFINE_bool(verbose, false, "Prints information about the solver progress.");
+
+namespace ceres {
+namespace examples {
+
+// This cost function is used to build the data term.
+//
+// f_i(x) = a * (x_i - b)^2
+//
+class QuadraticCostFunction : public ceres::SizedCostFunction<1, 1> {
+ public:
+ QuadraticCostFunction(double a, double b)
+ : sqrta_(std::sqrt(a)), b_(b) {}
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ const double x = parameters[0][0];
+ residuals[0] = sqrta_ * (x - b_);
+ if (jacobians != NULL && jacobians[0] != NULL) {
+ jacobians[0][0] = sqrta_;
+ }
+ return true;
+ }
+ private:
+ double sqrta_, b_;
+};
+
+// Creates a Fields of Experts MAP inference problem.
+void CreateProblem(const FieldsOfExperts& foe,
+ const PGMImage<double>& image,
+ Problem* problem,
+ PGMImage<double>* solution) {
+ // Create the data term
+ CHECK_GT(FLAGS_sigma, 0.0);
+ const double coefficient = 1 / (2.0 * FLAGS_sigma * FLAGS_sigma);
+ for (unsigned index = 0; index < image.NumPixels(); ++index) {
+ ceres::CostFunction* cost_function =
+ new QuadraticCostFunction(coefficient,
+ image.PixelFromLinearIndex(index));
+ problem->AddResidualBlock(cost_function,
+ NULL,
+ solution->MutablePixelFromLinearIndex(index));
+ }
+
+ // Create Ceres cost and loss functions for regularization. One is needed for
+ // each filter.
+ std::vector<ceres::LossFunction*> loss_function(foe.NumFilters());
+ std::vector<ceres::CostFunction*> cost_function(foe.NumFilters());
+ for (int alpha_index = 0; alpha_index < foe.NumFilters(); ++alpha_index) {
+ loss_function[alpha_index] = foe.NewLossFunction(alpha_index);
+ cost_function[alpha_index] = foe.NewCostFunction(alpha_index);
+ }
+
+ // Add FoE regularization for each patch in the image.
+ for (int x = 0; x < image.width() - (foe.Size() - 1); ++x) {
+ for (int y = 0; y < image.height() - (foe.Size() - 1); ++y) {
+ // Build a vector with the pixel indices of this patch.
+ std::vector<double*> pixels;
+ const std::vector<int>& x_delta_indices = foe.GetXDeltaIndices();
+ const std::vector<int>& y_delta_indices = foe.GetYDeltaIndices();
+ for (int i = 0; i < foe.NumVariables(); ++i) {
+ double* pixel = solution->MutablePixel(x + x_delta_indices[i],
+ y + y_delta_indices[i]);
+ pixels.push_back(pixel);
+ }
+ // For this patch with coordinates (x, y), we will add foe.NumFilters()
+ // terms to the objective function.
+ for (int alpha_index = 0; alpha_index < foe.NumFilters(); ++alpha_index) {
+ problem->AddResidualBlock(cost_function[alpha_index],
+ loss_function[alpha_index],
+ pixels);
+ }
+ }
+ }
+}
+
+// Solves the FoE problem using Ceres and post-processes it to make sure the
+// solution stays within [0, 255].
+void SolveProblem(Problem* problem, PGMImage<double>* solution) {
+ // These parameters may be experimented with. For example, ceres::DOGLEG tends
+ // to be faster for 2x2 filters, but gives solutions with slightly higher
+ // objective function value.
+ ceres::Solver::Options options;
+ options.max_num_iterations = 100;
+ if (FLAGS_verbose) {
+ options.minimizer_progress_to_stdout = true;
+ }
+ options.trust_region_strategy_type = ceres::LEVENBERG_MARQUARDT;
+ options.linear_solver_type = ceres::SPARSE_NORMAL_CHOLESKY;
+ options.function_tolerance = 1e-3; // Enough for denoising.
+
+ ceres::Solver::Summary summary;
+ ceres::Solve(options, problem, &summary);
+ if (FLAGS_verbose) {
+ std::cout << summary.FullReport() << "\n";
+ }
+
+ // Make the solution stay in [0, 255].
+ for (int x = 0; x < solution->width(); ++x) {
+ for (int y = 0; y < solution->height(); ++y) {
+ *solution->MutablePixel(x, y) =
+ std::min(255.0, std::max(0.0, solution->Pixel(x, y)));
+ }
+ }
+}
+} // namespace examples
+} // namespace ceres
+
+int main(int argc, char** argv) {
+ using namespace ceres::examples;
+ std::string
+ usage("This program denoises an image using Ceres. Sample usage:\n");
+ usage += argv[0];
+ usage += " --input=<noisy image PGM file> --foe_file=<FoE file name>";
+ google::SetUsageMessage(usage);
+ google::ParseCommandLineFlags(&argc, &argv, true);
+ google::InitGoogleLogging(argv[0]);
+
+ if (FLAGS_input.empty()) {
+ std::cerr << "Please provide an image file name.\n";
+ return 1;
+ }
+
+ if (FLAGS_foe_file.empty()) {
+ std::cerr << "Please provide a Fields of Experts file name.\n";
+ return 1;
+ }
+
+ // Load the Fields of Experts filters from file.
+ FieldsOfExperts foe;
+ if (!foe.LoadFromFile(FLAGS_foe_file)) {
+ std::cerr << "Loading \"" << FLAGS_foe_file << "\" failed.\n";
+ return 2;
+ }
+
+ // Read the images
+ PGMImage<double> image(FLAGS_input);
+ if (image.width() == 0) {
+ std::cerr << "Reading \"" << FLAGS_input << "\" failed.\n";
+ return 3;
+ }
+ PGMImage<double> solution(image.width(), image.height());
+ solution.Set(0.0);
+
+ ceres::Problem problem;
+ CreateProblem(foe, image, &problem, &solution);
+
+ SolveProblem(&problem, &solution);
+
+ if (!FLAGS_output.empty()) {
+ CHECK(solution.WriteToFile(FLAGS_output))
+ << "Writing \"" << FLAGS_output << "\" failed.";
+ }
+
+ return 0;
+}
diff --git a/examples/fields_of_experts.cc b/examples/fields_of_experts.cc
new file mode 100644
index 0000000..0cee40b
--- /dev/null
+++ b/examples/fields_of_experts.cc
@@ -0,0 +1,152 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: strandmark@google.com (Petter Strandmark)
+//
+// Class for loading the data required for descibing a Fields of Experts (FoE)
+// model.
+
+#include "fields_of_experts.h"
+
+#include <fstream>
+#include <cmath>
+
+#include "pgm_image.h"
+
+namespace ceres {
+namespace examples {
+
+FieldsOfExpertsCost::FieldsOfExpertsCost(const std::vector<double>& filter)
+ : filter_(filter) {
+ set_num_residuals(1);
+ for (int i = 0; i < filter_.size(); ++i) {
+ mutable_parameter_block_sizes()->push_back(1);
+ }
+}
+
+// This is a dot product between a the scalar parameters and a vector of filter
+// coefficients.
+bool FieldsOfExpertsCost::Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ int num_variables = filter_.size();
+ residuals[0] = 0;
+ for (int i = 0; i < num_variables; ++i) {
+ residuals[0] += filter_[i] * parameters[i][0];
+ }
+
+ if (jacobians != NULL) {
+ for (int i = 0; i < num_variables; ++i) {
+ if (jacobians[i] != NULL) {
+ jacobians[i][0] = filter_[i];
+ }
+ }
+ }
+
+ return true;
+}
+
+// This loss function builds the FoE terms and is equal to
+//
+// f(x) = alpha_i * log(1 + (1/2)s)
+//
+void FieldsOfExpertsLoss::Evaluate(double sq_norm, double rho[3]) const {
+ const double c = 0.5;
+ const double sum = 1.0 + sq_norm * c;
+ const double inv = 1.0 / sum;
+ // 'sum' and 'inv' are always positive, assuming that 's' is.
+ rho[0] = alpha_ * log(sum);
+ rho[1] = alpha_ * c * inv;
+ rho[2] = - alpha_ * c * c * inv * inv;
+}
+
+FieldsOfExperts::FieldsOfExperts()
+ : size_(0), num_filters_(0) {
+}
+
+bool FieldsOfExperts::LoadFromFile(const std::string& filename) {
+ std::ifstream foe_file(filename.c_str());
+ foe_file >> size_;
+ foe_file >> num_filters_;
+ if (size_ < 0 || num_filters_ < 0) {
+ return false;
+ }
+ const int num_variables = NumVariables();
+
+ x_delta_indices_.resize(num_variables);
+ for (int i = 0; i < num_variables; ++i) {
+ foe_file >> x_delta_indices_[i];
+ }
+
+ y_delta_indices_.resize(NumVariables());
+ for (int i = 0; i < num_variables; ++i) {
+ foe_file >> y_delta_indices_[i];
+ }
+
+ alpha_.resize(num_filters_);
+ for (int i = 0; i < num_filters_; ++i) {
+ foe_file >> alpha_[i];
+ }
+
+ filters_.resize(num_filters_);
+ for (int i = 0; i < num_filters_; ++i) {
+ filters_[i].resize(num_variables);
+ for (int j = 0; j < num_variables; ++j) {
+ foe_file >> filters_[i][j];
+ }
+ }
+
+ // If any read failed, return failure.
+ if (!foe_file) {
+ size_ = 0;
+ return false;
+ }
+
+ // There cannot be anything else in the file. Try reading another number and
+ // return failure if that succeeded.
+ double temp;
+ foe_file >> temp;
+ if (foe_file) {
+ size_ = 0;
+ return false;
+ }
+
+ return true;
+}
+
+ceres::CostFunction* FieldsOfExperts::NewCostFunction(int alpha_index) const {
+ return new FieldsOfExpertsCost(filters_[alpha_index]);
+}
+
+ceres::LossFunction* FieldsOfExperts::NewLossFunction(int alpha_index) const {
+ return new FieldsOfExpertsLoss(alpha_[alpha_index]);
+}
+
+
+} // namespace examples
+} // namespace ceres
diff --git a/examples/fields_of_experts.h b/examples/fields_of_experts.h
new file mode 100644
index 0000000..845a4cf
--- /dev/null
+++ b/examples/fields_of_experts.h
@@ -0,0 +1,145 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: strandmark@google.com (Petter Strandmark)
+//
+// Class for loading the data required for descibing a Fields of Experts (FoE)
+// model. The Fields of Experts regularization consists of terms of the type
+//
+// alpha * log(1 + (1/2)*sum(F .* X)^2),
+//
+// where F is a d-by-d image patch and alpha is a constant. This is implemented
+// by a FieldsOfExpertsSum object which represents the dot product between the
+// image patches and a FieldsOfExpertsLoss which implements the log(1 + (1/2)s)
+// part.
+//
+// [1] S. Roth and M.J. Black. "Fields of Experts." International Journal of
+// Computer Vision, 82(2):205--229, 2009.
+
+#ifndef CERES_EXAMPLES_FIELDS_OF_EXPERTS_H_
+#define CERES_EXAMPLES_FIELDS_OF_EXPERTS_H_
+
+#include <iostream>
+#include <vector>
+
+#include "ceres/loss_function.h"
+#include "ceres/cost_function.h"
+#include "ceres/sized_cost_function.h"
+
+#include "pgm_image.h"
+
+namespace ceres {
+namespace examples {
+
+// One sum in the FoE regularizer. This is a dot product between a filter and an
+// image patch. It simply calculates the dot product between the filter
+// coefficients given in the constructor and the scalar parameters passed to it.
+class FieldsOfExpertsCost : public ceres::CostFunction {
+ public:
+ explicit FieldsOfExpertsCost(const std::vector<double>& filter);
+ // The number of scalar parameters passed to Evaluate must equal the number of
+ // filter coefficients passed to the constructor.
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const;
+
+ private:
+ const std::vector<double>& filter_;
+};
+
+// The loss function used to build the correct regularization. See above.
+//
+// f(x) = alpha_i * log(1 + (1/2)s)
+//
+class FieldsOfExpertsLoss : public ceres::LossFunction {
+ public:
+ explicit FieldsOfExpertsLoss(double alpha) : alpha_(alpha) { }
+ virtual void Evaluate(double, double*) const;
+
+ private:
+ const double alpha_;
+};
+
+// This class loads a set of filters and coefficients from file. Then the users
+// obtains the correct loss and cost functions through NewCostFunction and
+// NewLossFunction.
+class FieldsOfExperts {
+ public:
+ // Creates an empty object with size() == 0.
+ FieldsOfExperts();
+ // Attempts to load filters from a file. If unsuccessful it returns false and
+ // sets size() == 0.
+ bool LoadFromFile(const std::string& filename);
+
+ // Side length of a square filter in this FoE. They are all of the same size.
+ int Size() const {
+ return size_;
+ }
+
+ // Total number of pixels the filter covers.
+ int NumVariables() const {
+ return size_ * size_;
+ }
+
+ // Number of filters used by the FoE.
+ int NumFilters() const {
+ return num_filters_;
+ }
+
+ // Creates a new cost function. The caller is responsible for deallocating the
+ // memory. alpha_index specifies which filter is used in the cost function.
+ ceres::CostFunction* NewCostFunction(int alpha_index) const;
+ // Creates a new loss function. The caller is responsible for deallocating the
+ // memory. alpha_index specifies which filter this loss function is for.
+ ceres::LossFunction* NewLossFunction(int alpha_index) const;
+
+ // Gets the delta pixel indices for all pixels in a patch.
+ const std::vector<int>& GetXDeltaIndices() const {
+ return x_delta_indices_;
+ }
+ const std::vector<int>& GetYDeltaIndices() const {
+ return y_delta_indices_;
+ }
+
+ private:
+ // The side length of a square filter.
+ int size_;
+ // The number of different filters used.
+ int num_filters_;
+ // Pixel offsets for all variables.
+ std::vector<int> x_delta_indices_, y_delta_indices_;
+ // The coefficients in front of each term.
+ std::vector<double> alpha_;
+ // The filters used for the dot product with image patches.
+ std::vector<std::vector<double> > filters_;
+};
+
+} // namespace examples
+} // namespace ceres
+
+#endif // CERES_EXAMPLES_FIELDS_OF_EXPERTS_H_
diff --git a/examples/nist.cc b/examples/nist.cc
new file mode 100644
index 0000000..440ab5c
--- /dev/null
+++ b/examples/nist.cc
@@ -0,0 +1,479 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// NIST non-linear regression problems solved using Ceres.
+//
+// The data was obtained from
+// http://www.itl.nist.gov/div898/strd/nls/nls_main.shtml, where more
+// background on these problems can also be found.
+//
+// Currently not all problems are solved successfully. Some of the
+// failures are due to convergence to a local minimum, and some fail
+// because of numerical issues.
+//
+// TODO(sameeragarwal): Fix numerical issues so that all the problems
+// converge and then look at convergence to the wrong solution issues.
+
+#include <iostream>
+#include <fstream>
+#include "ceres/ceres.h"
+#include "ceres/split.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+#include "Eigen/Core"
+
+DEFINE_string(nist_data_dir, "", "Directory containing the NIST non-linear"
+ "regression examples");
+DEFINE_string(trust_region_strategy, "levenberg_marquardt",
+ "Options are: levenberg_marquardt, dogleg");
+DEFINE_string(dogleg, "traditional_dogleg",
+ "Options are: traditional_dogleg, subspace_dogleg");
+DEFINE_string(linear_solver, "dense_qr", "Options are: "
+ "sparse_cholesky, dense_qr, dense_normal_cholesky and"
+ "cgnr");
+DEFINE_string(preconditioner, "jacobi", "Options are: "
+ "identity, jacobi");
+DEFINE_int32(num_iterations, 10000, "Number of iterations");
+DEFINE_bool(nonmonotonic_steps, false, "Trust region algorithm can use"
+ " nonmonotic steps");
+DEFINE_double(initial_trust_region_radius, 1e4, "Initial trust region radius");
+
+using Eigen::Dynamic;
+using Eigen::RowMajor;
+typedef Eigen::Matrix<double, Dynamic, 1> Vector;
+typedef Eigen::Matrix<double, Dynamic, Dynamic, RowMajor> Matrix;
+
+bool GetAndSplitLine(std::ifstream& ifs, std::vector<std::string>* pieces) {
+ pieces->clear();
+ char buf[256];
+ ifs.getline(buf, 256);
+ ceres::SplitStringUsing(std::string(buf), " ", pieces);
+ return true;
+}
+
+void SkipLines(std::ifstream& ifs, int num_lines) {
+ char buf[256];
+ for (int i = 0; i < num_lines; ++i) {
+ ifs.getline(buf, 256);
+ }
+}
+
+bool IsSuccessfulTermination(ceres::SolverTerminationType status) {
+ return
+ (status == ceres::FUNCTION_TOLERANCE) ||
+ (status == ceres::GRADIENT_TOLERANCE) ||
+ (status == ceres::PARAMETER_TOLERANCE) ||
+ (status == ceres::USER_SUCCESS);
+}
+
+class NISTProblem {
+ public:
+ explicit NISTProblem(const std::string& filename) {
+ std::ifstream ifs(filename.c_str(), std::ifstream::in);
+
+ std::vector<std::string> pieces;
+ SkipLines(ifs, 24);
+ GetAndSplitLine(ifs, &pieces);
+ const int kNumResponses = std::atoi(pieces[1].c_str());
+
+ GetAndSplitLine(ifs, &pieces);
+ const int kNumPredictors = std::atoi(pieces[0].c_str());
+
+ GetAndSplitLine(ifs, &pieces);
+ const int kNumObservations = std::atoi(pieces[0].c_str());
+
+ SkipLines(ifs, 4);
+ GetAndSplitLine(ifs, &pieces);
+ const int kNumParameters = std::atoi(pieces[0].c_str());
+ SkipLines(ifs, 8);
+
+ // Get the first line of initial and final parameter values to
+ // determine the number of tries.
+ GetAndSplitLine(ifs, &pieces);
+ const int kNumTries = pieces.size() - 4;
+
+ predictor_.resize(kNumObservations, kNumPredictors);
+ response_.resize(kNumObservations, kNumResponses);
+ initial_parameters_.resize(kNumTries, kNumParameters);
+ final_parameters_.resize(1, kNumParameters);
+
+ // Parse the line for parameter b1.
+ int parameter_id = 0;
+ for (int i = 0; i < kNumTries; ++i) {
+ initial_parameters_(i, parameter_id) = std::atof(pieces[i + 2].c_str());
+ }
+ final_parameters_(0, parameter_id) = std::atof(pieces[2 + kNumTries].c_str());
+
+ // Parse the remaining parameter lines.
+ for (int parameter_id = 1; parameter_id < kNumParameters; ++parameter_id) {
+ GetAndSplitLine(ifs, &pieces);
+ // b2, b3, ....
+ for (int i = 0; i < kNumTries; ++i) {
+ initial_parameters_(i, parameter_id) = std::atof(pieces[i + 2].c_str());
+ }
+ final_parameters_(0, parameter_id) = std::atof(pieces[2 + kNumTries].c_str());
+ }
+
+ // Certfied cost
+ SkipLines(ifs, 1);
+ GetAndSplitLine(ifs, &pieces);
+ certified_cost_ = std::atof(pieces[4].c_str()) / 2.0;
+
+ // Read the observations.
+ SkipLines(ifs, 18 - kNumParameters);
+ for (int i = 0; i < kNumObservations; ++i) {
+ GetAndSplitLine(ifs, &pieces);
+ // Response.
+ for (int j = 0; j < kNumResponses; ++j) {
+ response_(i, j) = std::atof(pieces[j].c_str());
+ }
+
+ // Predictor variables.
+ for (int j = 0; j < kNumPredictors; ++j) {
+ predictor_(i, j) = std::atof(pieces[j + kNumResponses].c_str());
+ }
+ }
+ }
+
+ Matrix initial_parameters(int start) const { return initial_parameters_.row(start); }
+ Matrix final_parameters() const { return final_parameters_; }
+ Matrix predictor() const { return predictor_; }
+ Matrix response() const { return response_; }
+ int predictor_size() const { return predictor_.cols(); }
+ int num_observations() const { return predictor_.rows(); }
+ int response_size() const { return response_.cols(); }
+ int num_parameters() const { return initial_parameters_.cols(); }
+ int num_starts() const { return initial_parameters_.rows(); }
+ double certified_cost() const { return certified_cost_; }
+
+ private:
+ Matrix predictor_;
+ Matrix response_;
+ Matrix initial_parameters_;
+ Matrix final_parameters_;
+ double certified_cost_;
+};
+
+#define NIST_BEGIN(CostFunctionName) \
+ struct CostFunctionName { \
+ CostFunctionName(const double* const x, \
+ const double* const y) \
+ : x_(*x), y_(*y) {} \
+ double x_; \
+ double y_; \
+ template <typename T> \
+ bool operator()(const T* const b, T* residual) const { \
+ const T y(y_); \
+ const T x(x_); \
+ residual[0] = y - (
+
+#define NIST_END ); return true; }};
+
+// y = b1 * (b2+x)**(-1/b3) + e
+NIST_BEGIN(Bennet5)
+ b[0] * pow(b[1] + x, T(-1.0) / b[2])
+NIST_END
+
+// y = b1*(1-exp[-b2*x]) + e
+NIST_BEGIN(BoxBOD)
+ b[0] * (T(1.0) - exp(-b[1] * x))
+NIST_END
+
+// y = exp[-b1*x]/(b2+b3*x) + e
+NIST_BEGIN(Chwirut)
+ exp(-b[0] * x) / (b[1] + b[2] * x)
+NIST_END
+
+// y = b1*x**b2 + e
+NIST_BEGIN(DanWood)
+ b[0] * pow(x, b[1])
+NIST_END
+
+// y = b1*exp( -b2*x ) + b3*exp( -(x-b4)**2 / b5**2 )
+// + b6*exp( -(x-b7)**2 / b8**2 ) + e
+NIST_BEGIN(Gauss)
+ b[0] * exp(-b[1] * x) +
+ b[2] * exp(-pow((x - b[3])/b[4], 2)) +
+ b[5] * exp(-pow((x - b[6])/b[7],2))
+NIST_END
+
+// y = b1*exp(-b2*x) + b3*exp(-b4*x) + b5*exp(-b6*x) + e
+NIST_BEGIN(Lanczos)
+ b[0] * exp(-b[1] * x) + b[2] * exp(-b[3] * x) + b[4] * exp(-b[5] * x)
+NIST_END
+
+// y = (b1+b2*x+b3*x**2+b4*x**3) /
+// (1+b5*x+b6*x**2+b7*x**3) + e
+NIST_BEGIN(Hahn1)
+ (b[0] + b[1] * x + b[2] * x * x + b[3] * x * x * x) /
+ (T(1.0) + b[4] * x + b[5] * x * x + b[6] * x * x * x)
+NIST_END
+
+// y = (b1 + b2*x + b3*x**2) /
+// (1 + b4*x + b5*x**2) + e
+NIST_BEGIN(Kirby2)
+ (b[0] + b[1] * x + b[2] * x * x) /
+ (T(1.0) + b[3] * x + b[4] * x * x)
+NIST_END
+
+// y = b1*(x**2+x*b2) / (x**2+x*b3+b4) + e
+NIST_BEGIN(MGH09)
+ b[0] * (x * x + x * b[1]) / (x * x + x * b[2] + b[3])
+NIST_END
+
+// y = b1 * exp[b2/(x+b3)] + e
+NIST_BEGIN(MGH10)
+ b[0] * exp(b[1] / (x + b[2]))
+NIST_END
+
+// y = b1 + b2*exp[-x*b4] + b3*exp[-x*b5]
+NIST_BEGIN(MGH17)
+ b[0] + b[1] * exp(-x * b[3]) + b[2] * exp(-x * b[4])
+NIST_END
+
+// y = b1*(1-exp[-b2*x]) + e
+NIST_BEGIN(Misra1a)
+ b[0] * (T(1.0) - exp(-b[1] * x))
+NIST_END
+
+// y = b1 * (1-(1+b2*x/2)**(-2)) + e
+NIST_BEGIN(Misra1b)
+ b[0] * (T(1.0) - T(1.0)/ ((T(1.0) + b[1] * x / 2.0) * (T(1.0) + b[1] * x / 2.0)))
+NIST_END
+
+// y = b1 * (1-(1+2*b2*x)**(-.5)) + e
+NIST_BEGIN(Misra1c)
+ b[0] * (T(1.0) - pow(T(1.0) + T(2.0) * b[1] * x, -0.5))
+NIST_END
+
+// y = b1*b2*x*((1+b2*x)**(-1)) + e
+NIST_BEGIN(Misra1d)
+ b[0] * b[1] * x / (T(1.0) + b[1] * x)
+NIST_END
+
+const double kPi = 3.141592653589793238462643383279;
+// pi = 3.141592653589793238462643383279E0
+// y = b1 - b2*x - arctan[b3/(x-b4)]/pi + e
+NIST_BEGIN(Roszman1)
+ b[0] - b[1] * x - atan2(b[2], (x - b[3]))/T(kPi)
+NIST_END
+
+// y = b1 / (1+exp[b2-b3*x]) + e
+NIST_BEGIN(Rat42)
+ b[0] / (T(1.0) + exp(b[1] - b[2] * x))
+NIST_END
+
+// y = b1 / ((1+exp[b2-b3*x])**(1/b4)) + e
+NIST_BEGIN(Rat43)
+ b[0] / pow(T(1.0) + exp(b[1] - b[2] * x), T(1.0) / b[3])
+NIST_END
+
+// y = (b1 + b2*x + b3*x**2 + b4*x**3) /
+// (1 + b5*x + b6*x**2 + b7*x**3) + e
+NIST_BEGIN(Thurber)
+ (b[0] + b[1] * x + b[2] * x * x + b[3] * x * x * x) /
+ (T(1.0) + b[4] * x + b[5] * x * x + b[6] * x * x * x)
+NIST_END
+
+// y = b1 + b2*cos( 2*pi*x/12 ) + b3*sin( 2*pi*x/12 )
+// + b5*cos( 2*pi*x/b4 ) + b6*sin( 2*pi*x/b4 )
+// + b8*cos( 2*pi*x/b7 ) + b9*sin( 2*pi*x/b7 ) + e
+NIST_BEGIN(ENSO)
+ b[0] + b[1] * cos(T(2.0 * kPi) * x / T(12.0)) +
+ b[2] * sin(T(2.0 * kPi) * x / T(12.0)) +
+ b[4] * cos(T(2.0 * kPi) * x / b[3]) +
+ b[5] * sin(T(2.0 * kPi) * x / b[3]) +
+ b[7] * cos(T(2.0 * kPi) * x / b[6]) +
+ b[8] * sin(T(2.0 * kPi) * x / b[6])
+NIST_END
+
+// y = (b1/b2) * exp[-0.5*((x-b3)/b2)**2] + e
+NIST_BEGIN(Eckerle4)
+ b[0] / b[1] * exp(T(-0.5) * pow((x - b[2])/b[1], 2))
+NIST_END
+
+struct Nelson {
+ public:
+ Nelson(const double* const x, const double* const y)
+ : x1_(x[0]), x2_(x[1]), y_(y[0]) {}
+
+ template <typename T>
+ bool operator()(const T* const b, T* residual) const {
+ // log[y] = b1 - b2*x1 * exp[-b3*x2] + e
+ residual[0] = T(log(y_)) - (b[0] - b[1] * T(x1_) * exp(-b[2] * T(x2_)));
+ return true;
+ }
+
+ private:
+ double x1_;
+ double x2_;
+ double y_;
+};
+
+template <typename Model, int num_residuals, int num_parameters>
+int RegressionDriver(const std::string& filename,
+ const ceres::Solver::Options& options) {
+ NISTProblem nist_problem(FLAGS_nist_data_dir + filename);
+ CHECK_EQ(num_residuals, nist_problem.response_size());
+ CHECK_EQ(num_parameters, nist_problem.num_parameters());
+
+ Matrix predictor = nist_problem.predictor();
+ Matrix response = nist_problem.response();
+ Matrix final_parameters = nist_problem.final_parameters();
+ std::vector<ceres::Solver::Summary> summaries(nist_problem.num_starts() + 1);
+ std::cerr << filename << std::endl;
+
+ // Each NIST problem comes with multiple starting points, so we
+ // construct the problem from scratch for each case and solve it.
+ for (int start = 0; start < nist_problem.num_starts(); ++start) {
+ Matrix initial_parameters = nist_problem.initial_parameters(start);
+
+ ceres::Problem problem;
+ for (int i = 0; i < nist_problem.num_observations(); ++i) {
+ problem.AddResidualBlock(
+ new ceres::AutoDiffCostFunction<Model, num_residuals, num_parameters>(
+ new Model(predictor.data() + nist_problem.predictor_size() * i,
+ response.data() + nist_problem.response_size() * i)),
+ NULL,
+ initial_parameters.data());
+ }
+
+ Solve(options, &problem, &summaries[start]);
+ }
+
+ const double certified_cost = nist_problem.certified_cost();
+
+ int num_success = 0;
+ const int kMinNumMatchingDigits = 4;
+ for (int start = 0; start < nist_problem.num_starts(); ++start) {
+ const ceres::Solver::Summary& summary = summaries[start];
+
+ int num_matching_digits = 0;
+ if (IsSuccessfulTermination(summary.termination_type)
+ && summary.final_cost < certified_cost) {
+ num_matching_digits = kMinNumMatchingDigits + 1;
+ } else {
+ num_matching_digits =
+ -std::log10(fabs(summary.final_cost - certified_cost) / certified_cost);
+ }
+
+ std::cerr << "start " << start + 1 << " " ;
+ if (num_matching_digits <= kMinNumMatchingDigits) {
+ std::cerr << "FAILURE";
+ } else {
+ std::cerr << "SUCCESS";
+ ++num_success;
+ }
+ std::cerr << " summary: "
+ << summary.BriefReport()
+ << " Certified cost: " << certified_cost
+ << std::endl;
+
+ }
+
+ return num_success;
+}
+
+void SetMinimizerOptions(ceres::Solver::Options* options) {
+ CHECK(ceres::StringToLinearSolverType(FLAGS_linear_solver,
+ &options->linear_solver_type));
+ CHECK(ceres::StringToPreconditionerType(FLAGS_preconditioner,
+ &options->preconditioner_type));
+ CHECK(ceres::StringToTrustRegionStrategyType(
+ FLAGS_trust_region_strategy,
+ &options->trust_region_strategy_type));
+ CHECK(ceres::StringToDoglegType(FLAGS_dogleg, &options->dogleg_type));
+
+ options->max_num_iterations = FLAGS_num_iterations;
+ options->use_nonmonotonic_steps = FLAGS_nonmonotonic_steps;
+ options->initial_trust_region_radius = FLAGS_initial_trust_region_radius;
+ options->function_tolerance = 1e-18;
+ options->gradient_tolerance = 1e-18;
+ options->parameter_tolerance = 1e-18;
+}
+
+void SolveNISTProblems() {
+ if (FLAGS_nist_data_dir.empty()) {
+ LOG(FATAL) << "Must specify the directory containing the NIST problems";
+ }
+
+ ceres::Solver::Options options;
+ SetMinimizerOptions(&options);
+
+ std::cerr << "Lower Difficulty\n";
+ int easy_success = 0;
+ easy_success += RegressionDriver<Misra1a, 1, 2>("Misra1a.dat", options);
+ easy_success += RegressionDriver<Chwirut, 1, 3>("Chwirut1.dat", options);
+ easy_success += RegressionDriver<Chwirut, 1, 3>("Chwirut2.dat", options);
+ easy_success += RegressionDriver<Lanczos, 1, 6>("Lanczos3.dat", options);
+ easy_success += RegressionDriver<Gauss, 1, 8>("Gauss1.dat", options);
+ easy_success += RegressionDriver<Gauss, 1, 8>("Gauss2.dat", options);
+ easy_success += RegressionDriver<DanWood, 1, 2>("DanWood.dat", options);
+ easy_success += RegressionDriver<Misra1b, 1, 2>("Misra1b.dat", options);
+
+ std::cerr << "\nMedium Difficulty\n";
+ int medium_success = 0;
+ medium_success += RegressionDriver<Kirby2, 1, 5>("Kirby2.dat", options);
+ medium_success += RegressionDriver<Hahn1, 1, 7>("Hahn1.dat", options);
+ medium_success += RegressionDriver<Nelson, 1, 3>("Nelson.dat", options);
+ medium_success += RegressionDriver<MGH17, 1, 5>("MGH17.dat", options);
+ medium_success += RegressionDriver<Lanczos, 1, 6>("Lanczos1.dat", options);
+ medium_success += RegressionDriver<Lanczos, 1, 6>("Lanczos2.dat", options);
+ medium_success += RegressionDriver<Gauss, 1, 8>("Gauss3.dat", options);
+ medium_success += RegressionDriver<Misra1c, 1, 2>("Misra1c.dat", options);
+ medium_success += RegressionDriver<Misra1d, 1, 2>("Misra1d.dat", options);
+ medium_success += RegressionDriver<Roszman1, 1, 4>("Roszman1.dat", options);
+ medium_success += RegressionDriver<ENSO, 1, 9>("ENSO.dat", options);
+
+ std::cerr << "\nHigher Difficulty\n";
+ int hard_success = 0;
+ hard_success += RegressionDriver<MGH09, 1, 4>("MGH09.dat", options);
+ hard_success += RegressionDriver<Thurber, 1, 7>("Thurber.dat", options);
+ hard_success += RegressionDriver<BoxBOD, 1, 2>("BoxBOD.dat", options);
+ hard_success += RegressionDriver<Rat42, 1, 3>("Rat42.dat", options);
+ hard_success += RegressionDriver<MGH10, 1, 3>("MGH10.dat", options);
+
+ hard_success += RegressionDriver<Eckerle4, 1, 3>("Eckerle4.dat", options);
+ hard_success += RegressionDriver<Rat43, 1, 4>("Rat43.dat", options);
+ hard_success += RegressionDriver<Bennet5, 1, 3>("Bennett5.dat", options);
+
+ std::cerr << "\n";
+ std::cerr << "Easy : " << easy_success << "/16\n";
+ std::cerr << "Medium : " << medium_success << "/22\n";
+ std::cerr << "Hard : " << hard_success << "/16\n";
+ std::cerr << "Total : " << easy_success + medium_success + hard_success << "/54\n";
+}
+
+int main(int argc, char** argv) {
+ google::ParseCommandLineFlags(&argc, &argv, true);
+ google::InitGoogleLogging(argv[0]);
+ SolveNISTProblems();
+ return 0;
+};
diff --git a/examples/pgm_image.h b/examples/pgm_image.h
new file mode 100644
index 0000000..15e99e4
--- /dev/null
+++ b/examples/pgm_image.h
@@ -0,0 +1,319 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: strandmark@google.com (Petter Strandmark)
+//
+// Simple class for accessing PGM images.
+
+#ifndef CERES_EXAMPLES_PGM_IMAGE_H_
+#define CERES_EXAMPLES_PGM_IMAGE_H_
+
+#include <algorithm>
+#include <cstring>
+#include <fstream>
+#include <iostream>
+#include <sstream>
+#include <string>
+#include <vector>
+
+#include "glog/logging.h"
+
+namespace ceres {
+namespace examples {
+
+template<typename Real>
+class PGMImage {
+ public:
+ // Create an empty image
+ PGMImage(int width, int height);
+ // Load an image from file
+ explicit PGMImage(std::string filename);
+ // Sets an image to a constant
+ void Set(double constant);
+
+ // Reading dimensions
+ int width() const;
+ int height() const;
+ int NumPixels() const;
+
+ // Get individual pixels
+ Real* MutablePixel(int x, int y);
+ Real Pixel(int x, int y) const;
+ Real* MutablePixelFromLinearIndex(int index);
+ Real PixelFromLinearIndex(int index) const;
+ int LinearIndex(int x, int y) const;
+
+ // Adds an image to another
+ void operator+=(const PGMImage& image);
+ // Adds a constant to an image
+ void operator+=(Real a);
+ // Multiplies an image by a constant
+ void operator*=(Real a);
+
+ // File access
+ bool WriteToFile(std::string filename) const;
+ bool ReadFromFile(std::string filename);
+
+ // Accessing the image data directly
+ bool SetData(const std::vector<Real>& new_data);
+ const std::vector<Real>& data() const;
+
+ protected:
+ int height_, width_;
+ std::vector<Real> data_;
+};
+
+// --- IMPLEMENTATION
+
+template<typename Real>
+PGMImage<Real>::PGMImage(int width, int height)
+ : height_(height), width_(width), data_(width*height, 0.0) {
+}
+
+template<typename Real>
+PGMImage<Real>::PGMImage(std::string filename) {
+ if (!ReadFromFile(filename)) {
+ height_ = 0;
+ width_ = 0;
+ }
+}
+
+template<typename Real>
+void PGMImage<Real>::Set(double constant) {
+ for (int i = 0; i < data_.size(); ++i) {
+ data_[i] = constant;
+ }
+}
+
+template<typename Real>
+int PGMImage<Real>::width() const {
+ return width_;
+}
+
+template<typename Real>
+int PGMImage<Real>::height() const {
+ return height_;
+}
+
+template<typename Real>
+int PGMImage<Real>::NumPixels() const {
+ return width_ * height_;
+}
+
+template<typename Real>
+Real* PGMImage<Real>::MutablePixel(int x, int y) {
+ return MutablePixelFromLinearIndex(LinearIndex(x, y));
+}
+
+template<typename Real>
+Real PGMImage<Real>::Pixel(int x, int y) const {
+ return PixelFromLinearIndex(LinearIndex(x, y));
+}
+
+template<typename Real>
+Real* PGMImage<Real>::MutablePixelFromLinearIndex(int index) {
+ CHECK(index >= 0);
+ CHECK(index < width_ * height_);
+ CHECK(index < data_.size());
+ return &data_[index];
+}
+
+template<typename Real>
+Real PGMImage<Real>::PixelFromLinearIndex(int index) const {
+ CHECK(index >= 0);
+ CHECK(index < width_ * height_);
+ CHECK(index < data_.size());
+ return data_[index];
+}
+
+template<typename Real>
+int PGMImage<Real>::LinearIndex(int x, int y) const {
+ return x + width_*y;
+}
+
+// Adds an image to another
+template<typename Real>
+void PGMImage<Real>::operator+= (const PGMImage<Real>& image) {
+ CHECK(data_.size() == image.data_.size());
+ for (int i = 0; i < data_.size(); ++i) {
+ data_[i] += image.data_[i];
+ }
+}
+
+// Adds a constant to an image
+template<typename Real>
+void PGMImage<Real>::operator+= (Real a) {
+ for (int i = 0; i < data_.size(); ++i) {
+ data_[i] += a;
+ }
+}
+
+// Multiplies an image by a constant
+template<typename Real>
+void PGMImage<Real>::operator*= (Real a) {
+ for (int i = 0; i < data_.size(); ++i) {
+ data_[i] *= a;
+ }
+}
+
+template<typename Real>
+bool PGMImage<Real>::WriteToFile(std::string filename) const {
+ std::ofstream outputfile(filename.c_str());
+ outputfile << "P2" << std::endl;
+ outputfile << "# PGM format" << std::endl;
+ outputfile << " # <width> <height> <levels> " << std::endl;
+ outputfile << " # <data> ... " << std::endl;
+ outputfile << width_ << ' ' << height_ << " 255 " << std::endl;
+
+ // Write data
+ int num_pixels = width_*height_;
+ for (int i = 0; i < num_pixels; ++i) {
+ // Convert to integer by rounding when writing file
+ outputfile << static_cast<int>(data_[i] + 0.5) << ' ';
+ }
+
+ return outputfile; // Returns true/false
+}
+
+namespace {
+
+// Helper function to read data from a text file, ignoring "#" comments.
+template<typename T>
+bool GetIgnoreComment(std::istream* in, T& t) {
+ std::string word;
+ bool ok;
+ do {
+ ok = true;
+ (*in) >> word;
+ if (word.length() > 0 && word[0] == '#') {
+ // Comment; read the whole line
+ ok = false;
+ std::getline(*in, word);
+ }
+ } while (!ok);
+
+ // Convert the string
+ std::stringstream sin(word);
+ sin >> t;
+
+ // Check for success
+ if (!in || !sin) {
+ return false;
+ }
+ return true;
+}
+} // namespace
+
+template<typename Real>
+bool PGMImage<Real>::ReadFromFile(std::string filename) {
+ std::ifstream inputfile(filename.c_str());
+
+ // File must start with "P2"
+ char ch1, ch2;
+ inputfile >> ch1 >> ch2;
+ if (!inputfile || ch1 != 'P' || (ch2 != '2' && ch2 != '5')) {
+ return false;
+ }
+
+ // Read the image header
+ int two_fifty_five;
+ if (!GetIgnoreComment(&inputfile, width_) ||
+ !GetIgnoreComment(&inputfile, height_) ||
+ !GetIgnoreComment(&inputfile, two_fifty_five) ) {
+ return false;
+ }
+ // Assert that the number of grey levels is 255.
+ if (two_fifty_five != 255) {
+ return false;
+ }
+
+ // Now read the data
+ int num_pixels = width_*height_;
+ data_.resize(num_pixels);
+ if (ch2 == '2') {
+ // Ascii file
+ for (int i = 0; i < num_pixels; ++i) {
+ int pixel_data;
+ bool res = GetIgnoreComment(&inputfile, pixel_data);
+ if (!res) {
+ return false;
+ }
+ data_[i] = pixel_data;
+ }
+ // There cannot be anything else in the file (except comments). Try reading
+ // another number and return failure if that succeeded.
+ int temp;
+ bool res = GetIgnoreComment(&inputfile, temp);
+ if (res) {
+ return false;
+ }
+ } else {
+ // Read the line feed character
+ if (inputfile.get() != '\n') {
+ return false;
+ }
+ // Binary file
+ // TODO(strandmark): Will not work on Windows (linebreak conversion).
+ for (int i = 0; i < num_pixels; ++i) {
+ unsigned char pixel_data = inputfile.get();
+ if (!inputfile) {
+ return false;
+ }
+ data_[i] = pixel_data;
+ }
+ // There cannot be anything else in the file. Try reading another byte
+ // and return failure if that succeeded.
+ inputfile.get();
+ if (inputfile) {
+ return false;
+ }
+ }
+
+ return true;
+}
+
+template<typename Real>
+bool PGMImage<Real>::SetData(const std::vector<Real>& new_data) {
+ // This function cannot change the dimensions
+ if (new_data.size() != data_.size()) {
+ return false;
+ }
+ std::copy(new_data.begin(), new_data.end(), data_.begin());
+ return true;
+}
+
+template<typename Real>
+const std::vector<Real>& PGMImage<Real>::data() const {
+ return data_;
+}
+
+} // namespace examples
+} // namespace ceres
+
+
+#endif // CERES_EXAMPLES_PGM_IMAGE_H_
diff --git a/examples/powell.cc b/examples/powell.cc
new file mode 100644
index 0000000..6cd3611
--- /dev/null
+++ b/examples/powell.cc
@@ -0,0 +1,151 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// An example program that minimizes Powell's singular function.
+//
+// F = 1/2 (f1^2 + f2^2 + f3^2 + f4^2)
+//
+// f1 = x1 + 10*x2;
+// f2 = sqrt(5) * (x3 - x4)
+// f3 = (x2 - 2*x3)^2
+// f4 = sqrt(10) * (x1 - x4)^2
+//
+// The starting values are x1 = 3, x2 = -1, x3 = 0, x4 = 1.
+// The minimum is 0 at (x1, x2, x3, x4) = 0.
+//
+// From: Testing Unconstrained Optimization Software by Jorge J. More, Burton S.
+// Garbow and Kenneth E. Hillstrom in ACM Transactions on Mathematical Software,
+// Vol 7(1), March 1981.
+
+#include <vector>
+#include "ceres/ceres.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
+using ceres::AutoDiffCostFunction;
+using ceres::CostFunction;
+using ceres::Problem;
+using ceres::Solver;
+using ceres::Solve;
+
+class F1 {
+ public:
+ template <typename T> bool operator()(const T* const x1,
+ const T* const x2,
+ T* residual) const {
+ // f1 = x1 + 10 * x2;
+ residual[0] = x1[0] + T(10.0) * x2[0];
+ return true;
+ }
+};
+
+class F2 {
+ public:
+ template <typename T> bool operator()(const T* const x3,
+ const T* const x4,
+ T* residual) const {
+ // f2 = sqrt(5) (x3 - x4)
+ residual[0] = T(sqrt(5.0)) * (x3[0] - x4[0]);
+ return true;
+ }
+};
+
+class F3 {
+ public:
+ template <typename T> bool operator()(const T* const x2,
+ const T* const x4,
+ T* residual) const {
+ // f3 = (x2 - 2 x3)^2
+ residual[0] = (x2[0] - T(2.0) * x4[0]) * (x2[0] - T(2.0) * x4[0]);
+ return true;
+ }
+};
+
+class F4 {
+ public:
+ template <typename T> bool operator()(const T* const x1,
+ const T* const x4,
+ T* residual) const {
+ // f4 = sqrt(10) (x1 - x4)^2
+ residual[0] = T(sqrt(10.0)) * (x1[0] - x4[0]) * (x1[0] - x4[0]);
+ return true;
+ }
+};
+
+int main(int argc, char** argv) {
+ google::ParseCommandLineFlags(&argc, &argv, true);
+ google::InitGoogleLogging(argv[0]);
+
+ double x1 = 3.0;
+ double x2 = -1.0;
+ double x3 = 0.0;
+ double x4 = 1.0;
+
+ Problem problem;
+ // Add residual terms to the problem using the using the autodiff
+ // wrapper to get the derivatives automatically. The parameters, x1 through
+ // x4, are modified in place.
+ problem.AddResidualBlock(new AutoDiffCostFunction<F1, 1, 1, 1>(new F1),
+ NULL,
+ &x1, &x2);
+ problem.AddResidualBlock(new AutoDiffCostFunction<F2, 1, 1, 1>(new F2),
+ NULL,
+ &x3, &x4);
+ problem.AddResidualBlock(new AutoDiffCostFunction<F3, 1, 1, 1>(new F3),
+ NULL,
+ &x2, &x3);
+ problem.AddResidualBlock(new AutoDiffCostFunction<F4, 1, 1, 1>(new F4),
+ NULL,
+ &x1, &x4);
+
+ // Run the solver!
+ Solver::Options options;
+ options.max_num_iterations = 30;
+ options.linear_solver_type = ceres::DENSE_QR;
+ options.minimizer_progress_to_stdout = true;
+
+ Solver::Summary summary;
+
+ std::cout << "Initial x1 = " << x1
+ << ", x2 = " << x2
+ << ", x3 = " << x3
+ << ", x4 = " << x4
+ << "\n";
+
+ Solve(options, &problem, &summary);
+
+ std::cout << summary.BriefReport() << "\n";
+ std::cout << "Final x1 = " << x1
+ << ", x2 = " << x2
+ << ", x3 = " << x3
+ << ", x4 = " << x4
+ << "\n";
+ return 0;
+}
diff --git a/examples/quadratic.cc b/examples/quadratic.cc
new file mode 100644
index 0000000..8527af3
--- /dev/null
+++ b/examples/quadratic.cc
@@ -0,0 +1,90 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// A simple example of using the Ceres minimizer.
+//
+// Minimize 0.5 (10 - x)^2 using analytic jacobian matrix.
+
+#include <vector>
+#include "ceres/ceres.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
+using ceres::SizedCostFunction;
+using ceres::Problem;
+using ceres::Solver;
+using ceres::Solve;
+
+class SimpleCostFunction
+ : public SizedCostFunction<1 /* number of residuals */,
+ 1 /* size of first parameter */> {
+ public:
+ virtual ~SimpleCostFunction() {}
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ double x = parameters[0][0];
+
+ // f(x) = 10 - x.
+ residuals[0] = 10 - x;
+
+ // f'(x) = -1. Since there's only 1 parameter and that parameter
+ // has 1 dimension, there is only 1 element to fill in the
+ // jacobians.
+ if (jacobians != NULL && jacobians[0] != NULL) {
+ jacobians[0][0] = -1;
+ }
+ return true;
+ }
+};
+
+int main(int argc, char** argv) {
+ google::ParseCommandLineFlags(&argc, &argv, true);
+ google::InitGoogleLogging(argv[0]);
+
+ // The variable with its initial value that we will be solving for.
+ double x = 5.0;
+
+ // Build the problem.
+ Problem problem;
+ // Set up the only cost function (also known as residual).
+ problem.AddResidualBlock(new SimpleCostFunction, NULL, &x);
+
+ // Run the solver!
+ Solver::Options options;
+ options.max_num_iterations = 10;
+ options.linear_solver_type = ceres::DENSE_QR;
+ options.minimizer_progress_to_stdout = true;
+ Solver::Summary summary;
+ Solve(options, &problem, &summary);
+ std::cout << summary.BriefReport() << "\n";
+ std::cout << "x : 5.0 -> " << x << "\n";
+ return 0;
+}
diff --git a/examples/quadratic_auto_diff.cc b/examples/quadratic_auto_diff.cc
new file mode 100644
index 0000000..ea7fae9
--- /dev/null
+++ b/examples/quadratic_auto_diff.cc
@@ -0,0 +1,88 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// A simple example of using the Ceres minimizer.
+//
+// Minimize 0.5 (10 - x)^2 using jacobian matrix computed using
+// automatic differentiation.
+
+#include <vector>
+#include "ceres/ceres.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
+using ceres::AutoDiffCostFunction;
+using ceres::CostFunction;
+using ceres::Problem;
+using ceres::Solver;
+using ceres::Solve;
+
+// A templated cost function that implements the residual r = 10 - x. The method
+// Map is templated so that we can then use an automatic differentiation wrapper
+// around it to generate its derivatives.
+class QuadraticCostFunction {
+ public:
+ template <typename T> bool operator()(const T* const x, T* residual) const {
+ residual[0] = T(10.0) - x[0];
+ return true;
+ }
+};
+
+int main(int argc, char** argv) {
+ google::ParseCommandLineFlags(&argc, &argv, true);
+ google::InitGoogleLogging(argv[0]);
+
+ // The variable to solve for with its initial value.
+ double initial_x = 5.0;
+ double x = initial_x;
+
+ // Build the problem.
+ Problem problem;
+
+ // Set up the only cost function (also known as residual). This uses
+ // auto-differentiation to obtain the derivative (jacobian).
+ problem.AddResidualBlock(
+ new AutoDiffCostFunction<QuadraticCostFunction, 1, 1>(
+ new QuadraticCostFunction),
+ NULL,
+ &x);
+
+ // Run the solver!
+ Solver::Options options;
+ options.max_num_iterations = 10;
+ options.linear_solver_type = ceres::DENSE_QR;
+ options.minimizer_progress_to_stdout = true;
+ Solver::Summary summary;
+ Solve(options, &problem, &summary);
+ std::cout << summary.BriefReport() << "\n";
+ std::cout << "x : " << initial_x
+ << " -> " << x << "\n";
+ return 0;
+}
diff --git a/examples/quadratic_numeric_diff.cc b/examples/quadratic_numeric_diff.cc
new file mode 100644
index 0000000..8ec88ef
--- /dev/null
+++ b/examples/quadratic_numeric_diff.cc
@@ -0,0 +1,92 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// Minimize 0.5 (10 - x)^2 using jacobian matrix computed using
+// numeric differentiation.
+
+#include <vector>
+#include "ceres/ceres.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+
+using ceres::NumericDiffCostFunction;
+using ceres::CENTRAL;
+using ceres::SizedCostFunction;
+using ceres::CostFunction;
+using ceres::Problem;
+using ceres::Solver;
+using ceres::Solve;
+
+class ResidualWithNoDerivative
+ : public SizedCostFunction<1 /* number of residuals */,
+ 1 /* size of first parameter */> {
+ public:
+ virtual ~ResidualWithNoDerivative() {}
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ (void) jacobians; // Ignored; filled in by numeric differentiation.
+
+ // f(x) = 10 - x.
+ residuals[0] = 10 - parameters[0][0];
+ return true;
+ }
+};
+
+int main(int argc, char** argv) {
+ google::ParseCommandLineFlags(&argc, &argv, true);
+ google::InitGoogleLogging(argv[0]);
+
+ // The variable to solve for with its initial value.
+ double initial_x = 5.0;
+ double x = initial_x;
+
+ // Set up the only cost function (also known as residual). This uses
+ // numeric differentiation to obtain the derivative (jacobian).
+ CostFunction* cost =
+ new NumericDiffCostFunction<ResidualWithNoDerivative, CENTRAL, 1, 1> (
+ new ResidualWithNoDerivative, ceres::TAKE_OWNERSHIP);
+
+ // Build the problem.
+ Problem problem;
+ problem.AddResidualBlock(cost, NULL, &x);
+
+ // Run the solver!
+ Solver::Options options;
+ options.max_num_iterations = 10;
+ options.linear_solver_type = ceres::DENSE_QR;
+ options.minimizer_progress_to_stdout = true;
+ Solver::Summary summary;
+ Solve(options, &problem, &summary);
+ std::cout << summary.BriefReport() << "\n";
+ std::cout << "x : " << initial_x
+ << " -> " << x << "\n";
+ return 0;
+}
diff --git a/examples/simple_bundle_adjuster.cc b/examples/simple_bundle_adjuster.cc
new file mode 100644
index 0000000..cc6f04a
--- /dev/null
+++ b/examples/simple_bundle_adjuster.cc
@@ -0,0 +1,210 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// A minimal, self-contained bundle adjuster using Ceres, that reads
+// files from University of Washington' Bundle Adjustment in the Large dataset:
+// http://grail.cs.washington.edu/projects/bal
+//
+// This does not use the best configuration for solving; see the more involved
+// bundle_adjuster.cc file for details.
+
+#include <cmath>
+#include <cstdio>
+#include <iostream>
+
+#include "ceres/ceres.h"
+#include "ceres/rotation.h"
+
+// Read a Bundle Adjustment in the Large dataset.
+class BALProblem {
+ public:
+ ~BALProblem() {
+ delete[] point_index_;
+ delete[] camera_index_;
+ delete[] observations_;
+ delete[] parameters_;
+ }
+
+ int num_observations() const { return num_observations_; }
+ const double* observations() const { return observations_; }
+ double* mutable_cameras() { return parameters_; }
+ double* mutable_points() { return parameters_ + 9 * num_cameras_; }
+
+ double* mutable_camera_for_observation(int i) {
+ return mutable_cameras() + camera_index_[i] * 9;
+ }
+ double* mutable_point_for_observation(int i) {
+ return mutable_points() + point_index_[i] * 3;
+ }
+
+ bool LoadFile(const char* filename) {
+ FILE* fptr = fopen(filename, "r");
+ if (fptr == NULL) {
+ return false;
+ };
+
+ FscanfOrDie(fptr, "%d", &num_cameras_);
+ FscanfOrDie(fptr, "%d", &num_points_);
+ FscanfOrDie(fptr, "%d", &num_observations_);
+
+ point_index_ = new int[num_observations_];
+ camera_index_ = new int[num_observations_];
+ observations_ = new double[2 * num_observations_];
+
+ num_parameters_ = 9 * num_cameras_ + 3 * num_points_;
+ parameters_ = new double[num_parameters_];
+
+ for (int i = 0; i < num_observations_; ++i) {
+ FscanfOrDie(fptr, "%d", camera_index_ + i);
+ FscanfOrDie(fptr, "%d", point_index_ + i);
+ for (int j = 0; j < 2; ++j) {
+ FscanfOrDie(fptr, "%lf", observations_ + 2*i + j);
+ }
+ }
+
+ for (int i = 0; i < num_parameters_; ++i) {
+ FscanfOrDie(fptr, "%lf", parameters_ + i);
+ }
+ return true;
+ }
+
+ private:
+ template<typename T>
+ void FscanfOrDie(FILE *fptr, const char *format, T *value) {
+ int num_scanned = fscanf(fptr, format, value);
+ if (num_scanned != 1) {
+ LOG(FATAL) << "Invalid UW data file.";
+ }
+ }
+
+ int num_cameras_;
+ int num_points_;
+ int num_observations_;
+ int num_parameters_;
+
+ int* point_index_;
+ int* camera_index_;
+ double* observations_;
+ double* parameters_;
+};
+
+// Templated pinhole camera model for used with Ceres. The camera is
+// parameterized using 9 parameters: 3 for rotation, 3 for translation, 1 for
+// focal length and 2 for radial distortion. The principal point is not modeled
+// (i.e. it is assumed be located at the image center).
+struct SnavelyReprojectionError {
+ SnavelyReprojectionError(double observed_x, double observed_y)
+ : observed_x(observed_x), observed_y(observed_y) {}
+
+ template <typename T>
+ bool operator()(const T* const camera,
+ const T* const point,
+ T* residuals) const {
+ // camera[0,1,2] are the angle-axis rotation.
+ T p[3];
+ ceres::AngleAxisRotatePoint(camera, point, p);
+
+ // camera[3,4,5] are the translation.
+ p[0] += camera[3];
+ p[1] += camera[4];
+ p[2] += camera[5];
+
+ // Compute the center of distortion. The sign change comes from
+ // the camera model that Noah Snavely's Bundler assumes, whereby
+ // the camera coordinate system has a negative z axis.
+ T xp = - p[0] / p[2];
+ T yp = - p[1] / p[2];
+
+ // Apply second and fourth order radial distortion.
+ const T& l1 = camera[7];
+ const T& l2 = camera[8];
+ T r2 = xp*xp + yp*yp;
+ T distortion = T(1.0) + r2 * (l1 + l2 * r2);
+
+ // Compute final projected point position.
+ const T& focal = camera[6];
+ T predicted_x = focal * distortion * xp;
+ T predicted_y = focal * distortion * yp;
+
+ // The error is the difference between the predicted and observed position.
+ residuals[0] = predicted_x - T(observed_x);
+ residuals[1] = predicted_y - T(observed_y);
+
+ return true;
+ }
+
+ double observed_x;
+ double observed_y;
+};
+
+int main(int argc, char** argv) {
+ google::InitGoogleLogging(argv[0]);
+ if (argc != 2) {
+ std::cerr << "usage: simple_bundle_adjuster <bal_problem>\n";
+ return 1;
+ }
+
+ BALProblem bal_problem;
+ if (!bal_problem.LoadFile(argv[1])) {
+ std::cerr << "ERROR: unable to open file " << argv[1] << "\n";
+ return 1;
+ }
+
+ // Create residuals for each observation in the bundle adjustment problem. The
+ // parameters for cameras and points are added automatically.
+ ceres::Problem problem;
+ for (int i = 0; i < bal_problem.num_observations(); ++i) {
+ // Each Residual block takes a point and a camera as input and outputs a 2
+ // dimensional residual. Internally, the cost function stores the observed
+ // image location and compares the reprojection against the observation.
+ ceres::CostFunction* cost_function =
+ new ceres::AutoDiffCostFunction<SnavelyReprojectionError, 2, 9, 3>(
+ new SnavelyReprojectionError(
+ bal_problem.observations()[2 * i + 0],
+ bal_problem.observations()[2 * i + 1]));
+
+ problem.AddResidualBlock(cost_function,
+ NULL /* squared loss */,
+ bal_problem.mutable_camera_for_observation(i),
+ bal_problem.mutable_point_for_observation(i));
+ }
+
+ // Make Ceres automatically detect the bundle structure. Note that the
+ // standard solver, SPARSE_NORMAL_CHOLESKY, also works fine but it is slower
+ // for standard bundle adjustment problems.
+ ceres::Solver::Options options;
+ options.linear_solver_type = ceres::DENSE_SCHUR;
+ options.minimizer_progress_to_stdout = true;
+
+ ceres::Solver::Summary summary;
+ ceres::Solve(options, &problem, &summary);
+ std::cout << summary.FullReport() << "\n";
+ return 0;
+}
diff --git a/examples/snavely_reprojection_error.h b/examples/snavely_reprojection_error.h
new file mode 100644
index 0000000..0704217
--- /dev/null
+++ b/examples/snavely_reprojection_error.h
@@ -0,0 +1,156 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Templated struct implementing the camera model and residual
+// computation for bundle adjustment used by Noah Snavely's Bundler
+// SfM system. This is also the camera model/residual for the bundle
+// adjustment problems in the BAL dataset. It is templated so that we
+// can use Ceres's automatic differentiation to compute analytic
+// jacobians.
+//
+// For details see: http://phototour.cs.washington.edu/bundler/
+// and http://grail.cs.washington.edu/projects/bal/
+
+#ifndef CERES_EXAMPLES_SNAVELY_REPROJECTION_ERROR_H_
+#define CERES_EXAMPLES_SNAVELY_REPROJECTION_ERROR_H_
+
+#include "ceres/rotation.h"
+
+namespace ceres {
+namespace examples {
+
+// Templated pinhole camera model for used with Ceres. The camera is
+// parameterized using 9 parameters: 3 for rotation, 3 for translation, 1 for
+// focal length and 2 for radial distortion. The principal point is not modeled
+// (i.e. it is assumed be located at the image center).
+struct SnavelyReprojectionError {
+ SnavelyReprojectionError(double observed_x, double observed_y)
+ : observed_x(observed_x), observed_y(observed_y) {}
+
+ template <typename T>
+ bool operator()(const T* const camera,
+ const T* const point,
+ T* residuals) const {
+ // camera[0,1,2] are the angle-axis rotation.
+ T p[3];
+ ceres::AngleAxisRotatePoint(camera, point, p);
+
+ // camera[3,4,5] are the translation.
+ p[0] += camera[3];
+ p[1] += camera[4];
+ p[2] += camera[5];
+
+ // Compute the center of distortion. The sign change comes from
+ // the camera model that Noah Snavely's Bundler assumes, whereby
+ // the camera coordinate system has a negative z axis.
+ const T& focal = camera[6];
+ T xp = - p[0] / p[2];
+ T yp = - p[1] / p[2];
+
+ // Apply second and fourth order radial distortion.
+ const T& l1 = camera[7];
+ const T& l2 = camera[8];
+ T r2 = xp*xp + yp*yp;
+ T distortion = T(1.0) + r2 * (l1 + l2 * r2);
+
+ // Compute final projected point position.
+ T predicted_x = focal * distortion * xp;
+ T predicted_y = focal * distortion * yp;
+
+ // The error is the difference between the predicted and observed position.
+ residuals[0] = predicted_x - T(observed_x);
+ residuals[1] = predicted_y - T(observed_y);
+
+ return true;
+ }
+
+ double observed_x;
+ double observed_y;
+};
+
+// Templated pinhole camera model for used with Ceres. The camera is
+// parameterized using 10 parameters. 4 for rotation, 3 for
+// translation, 1 for focal length and 2 for radial distortion. The
+// principal point is not modeled (i.e. it is assumed be located at
+// the image center).
+struct SnavelyReprojectionErrorWithQuaternions {
+ // (u, v): the position of the observation with respect to the image
+ // center point.
+ SnavelyReprojectionErrorWithQuaternions(double observed_x, double observed_y)
+ : observed_x(observed_x), observed_y(observed_y) {}
+
+ template <typename T>
+ bool operator()(const T* const camera_rotation,
+ const T* const camera_translation_and_intrinsics,
+ const T* const point,
+ T* residuals) const {
+ const T& focal = camera_translation_and_intrinsics[3];
+ const T& l1 = camera_translation_and_intrinsics[4];
+ const T& l2 = camera_translation_and_intrinsics[5];
+
+ // Use a quaternion rotation that doesn't assume the quaternion is
+ // normalized, since one of the ways to run the bundler is to let Ceres
+ // optimize all 4 quaternion parameters unconstrained.
+ T p[3];
+ QuaternionRotatePoint(camera_rotation, point, p);
+
+ p[0] += camera_translation_and_intrinsics[0];
+ p[1] += camera_translation_and_intrinsics[1];
+ p[2] += camera_translation_and_intrinsics[2];
+
+ // Compute the center of distortion. The sign change comes from
+ // the camera model that Noah Snavely's Bundler assumes, whereby
+ // the camera coordinate system has a negative z axis.
+ T xp = - p[0] / p[2];
+ T yp = - p[1] / p[2];
+
+ // Apply second and fourth order radial distortion.
+ T r2 = xp*xp + yp*yp;
+ T distortion = T(1.0) + r2 * (l1 + l2 * r2);
+
+ // Compute final projected point position.
+ T predicted_x = focal * distortion * xp;
+ T predicted_y = focal * distortion * yp;
+
+ // The error is the difference between the predicted and observed position.
+ residuals[0] = predicted_x - T(observed_x);
+ residuals[1] = predicted_y - T(observed_y);
+
+ return true;
+ }
+
+ double observed_x;
+ double observed_y;
+};
+
+} // namespace examples
+} // namespace ceres
+
+#endif // CERES_EXAMPLES_SNAVELY_REPROJECTION_ERROR_H_
diff --git a/include/ceres/autodiff_cost_function.h b/include/ceres/autodiff_cost_function.h
new file mode 100644
index 0000000..bb08d64
--- /dev/null
+++ b/include/ceres/autodiff_cost_function.h
@@ -0,0 +1,217 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Helpers for making CostFunctions as needed by the least squares framework,
+// with Jacobians computed via automatic differentiation. For more information
+// on automatic differentation, see the wikipedia article at
+// http://en.wikipedia.org/wiki/Automatic_differentiation
+//
+// To get an auto differentiated cost function, you must define a class with a
+// templated operator() (a functor) that computes the cost function in terms of
+// the template parameter T. The autodiff framework substitutes appropriate
+// "jet" objects for T in order to compute the derivative when necessary, but
+// this is hidden, and you should write the function as if T were a scalar type
+// (e.g. a double-precision floating point number).
+//
+// The function must write the computed value in the last argument (the only
+// non-const one) and return true to indicate success.
+//
+// For example, consider a scalar error e = k - x'y, where both x and y are
+// two-dimensional column vector parameters, the prime sign indicates
+// transposition, and k is a constant. The form of this error, which is the
+// difference between a constant and an expression, is a common pattern in least
+// squares problems. For example, the value x'y might be the model expectation
+// for a series of measurements, where there is an instance of the cost function
+// for each measurement k.
+//
+// The actual cost added to the total problem is e^2, or (k - x'k)^2; however,
+// the squaring is implicitly done by the optimization framework.
+//
+// To write an auto-differentiable cost function for the above model, first
+// define the object
+//
+// class MyScalarCostFunction {
+// MyScalarCostFunction(double k): k_(k) {}
+//
+// template <typename T>
+// bool operator()(const T* const x , const T* const y, T* e) const {
+// e[0] = T(k_) - x[0] * y[0] + x[1] * y[1];
+// return true;
+// }
+//
+// private:
+// double k_;
+// };
+//
+// Note that in the declaration of operator() the input parameters x and y come
+// first, and are passed as const pointers to arrays of T. If there were three
+// input parameters, then the third input parameter would come after y. The
+// output is always the last parameter, and is also a pointer to an array. In
+// the example above, e is a scalar, so only e[0] is set.
+//
+// Then given this class definition, the auto differentiated cost function for
+// it can be constructed as follows.
+//
+// CostFunction* cost_function
+// = new AutoDiffCostFunction<MyScalarCostFunction, 1, 2, 2>(
+// new MyScalarCostFunction(1.0)); ^ ^ ^
+// | | |
+// Dimension of residual ------+ | |
+// Dimension of x ----------------+ |
+// Dimension of y -------------------+
+//
+// In this example, there is usually an instance for each measumerent of k.
+//
+// In the instantiation above, the template parameters following
+// "MyScalarCostFunction", "1, 2, 2", describe the functor as computing a
+// 1-dimensional output from two arguments, both 2-dimensional.
+//
+// The autodiff cost function also supports cost functions with a
+// runtime-determined number of residuals. For example:
+//
+// CostFunction* cost_function
+// = new AutoDiffCostFunction<MyScalarCostFunction, DYNAMIC, 2, 2>(
+// new CostFunctionWithDynamicNumResiduals(1.0), ^ ^ ^
+// runtime_number_of_residuals); <----+ | | |
+// | | | |
+// | | | |
+// Actual number of residuals ------+ | | |
+// Indicate dynamic number of residuals ---------+ | |
+// Dimension of x -------------------------------------+ |
+// Dimension of y ----------------------------------------+
+//
+// The framework can currently accommodate cost functions of up to 6 independent
+// variables, and there is no limit on the dimensionality of each of them.
+//
+// WARNING #1: Since the functor will get instantiated with different types for
+// T, you must to convert from other numeric types to T before mixing
+// computations with other variables of type T. In the example above, this is
+// seen where instead of using k_ directly, k_ is wrapped with T(k_).
+//
+// WARNING #2: A common beginner's error when first using autodiff cost
+// functions is to get the sizing wrong. In particular, there is a tendency to
+// set the template parameters to (dimension of residual, number of parameters)
+// instead of passing a dimension parameter for *every parameter*. In the
+// example above, that would be <MyScalarCostFunction, 1, 2>, which is missing
+// the last '2' argument. Please be careful when setting the size parameters.
+
+#ifndef CERES_PUBLIC_AUTODIFF_COST_FUNCTION_H_
+#define CERES_PUBLIC_AUTODIFF_COST_FUNCTION_H_
+
+#include <glog/logging.h>
+#include "ceres/internal/autodiff.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/sized_cost_function.h"
+#include "ceres/types.h"
+
+namespace ceres {
+
+// A cost function which computes the derivative of the cost with respect to
+// the parameters (a.k.a. the jacobian) using an autodifferentiation framework.
+// The first template argument is the functor object, described in the header
+// comment. The second argument is the dimension of the residual (or
+// ceres::DYNAMIC to indicate it will be set at runtime), and subsequent
+// arguments describe the size of the Nth parameter, one per parameter.
+//
+// The constructors take ownership of the cost functor.
+//
+// If the number of residuals (argument "M" below) is ceres::DYNAMIC, then the
+// two-argument constructor must be used. The second constructor takes a number
+// of residuals (in addition to the templated number of residuals). This allows
+// for varying the number of residuals for a single autodiff cost function at
+// runtime.
+template <typename CostFunctor,
+ int M, // Number of residuals, or ceres::DYNAMIC.
+ int N0, // Number of parameters in block 0.
+ int N1 = 0, // Number of parameters in block 1.
+ int N2 = 0, // Number of parameters in block 2.
+ int N3 = 0, // Number of parameters in block 3.
+ int N4 = 0, // Number of parameters in block 4.
+ int N5 = 0, // Number of parameters in block 5.
+ int N6 = 0, // Number of parameters in block 6.
+ int N7 = 0, // Number of parameters in block 7.
+ int N8 = 0, // Number of parameters in block 8.
+ int N9 = 0> // Number of parameters in block 9.
+class AutoDiffCostFunction :
+ public SizedCostFunction<M, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9> {
+ public:
+ // Takes ownership of functor. Uses the template-provided value for the
+ // number of residuals ("M").
+ explicit AutoDiffCostFunction(CostFunctor* functor)
+ : functor_(functor) {
+ CHECK_NE(M, DYNAMIC) << "Can't run the fixed-size constructor if the "
+ << "number of residuals is set to ceres::DYNAMIC.";
+ }
+
+ // Takes ownership of functor. Ignores the template-provided number of
+ // residuals ("M") in favor of the "num_residuals" argument provided.
+ //
+ // This allows for having autodiff cost functions which return varying
+ // numbers of residuals at runtime.
+ AutoDiffCostFunction(CostFunctor* functor, int num_residuals)
+ : functor_(functor) {
+ CHECK_EQ(M, DYNAMIC) << "Can't run the dynamic-size constructor if the "
+ << "number of residuals is not ceres::DYNAMIC.";
+ SizedCostFunction<M, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>
+ ::set_num_residuals(num_residuals);
+ }
+
+ virtual ~AutoDiffCostFunction() {}
+
+ // Implementation details follow; clients of the autodiff cost function should
+ // not have to examine below here.
+ //
+ // To handle varardic cost functions, some template magic is needed. It's
+ // mostly hidden inside autodiff.h.
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ if (!jacobians) {
+ return internal::VariadicEvaluate<
+ CostFunctor, double, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>
+ ::Call(*functor_, parameters, residuals);
+ }
+ return internal::AutoDiff<CostFunctor, double,
+ N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>::Differentiate(
+ *functor_,
+ parameters,
+ SizedCostFunction<M, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>
+ ::num_residuals(),
+ residuals,
+ jacobians);
+ }
+
+ private:
+ internal::scoped_ptr<CostFunctor> functor_;
+};
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_AUTODIFF_COST_FUNCTION_H_
diff --git a/include/ceres/ceres.h b/include/ceres/ceres.h
new file mode 100644
index 0000000..9b8f212
--- /dev/null
+++ b/include/ceres/ceres.h
@@ -0,0 +1,52 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// This is a forwarding header containing the public symbols exported from
+// Ceres. Anything in the "ceres" namespace is available for use.
+
+#ifndef CERES_PUBLIC_CERES_H_
+#define CERES_PUBLIC_CERES_H_
+
+#define CERES_VERSION 1.4.0
+#define CERES_ABI_VERSION 1.4.0
+
+#include "ceres/autodiff_cost_function.h"
+#include "ceres/cost_function.h"
+#include "ceres/iteration_callback.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/loss_function.h"
+#include "ceres/numeric_diff_cost_function.h"
+#include "ceres/ordered_groups.h"
+#include "ceres/problem.h"
+#include "ceres/sized_cost_function.h"
+#include "ceres/solver.h"
+#include "ceres/types.h"
+
+#endif // CERES_PUBLIC_CERES_H_
diff --git a/include/ceres/conditioned_cost_function.h b/include/ceres/conditioned_cost_function.h
new file mode 100644
index 0000000..498d36e
--- /dev/null
+++ b/include/ceres/conditioned_cost_function.h
@@ -0,0 +1,97 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wjr@google.com (William Rucklidge)
+//
+// This file contains a cost function that can apply a transformation to
+// each residual value before they are square-summed.
+
+#ifndef CERES_PUBLIC_CONDITIONED_COST_FUNCTION_H_
+#define CERES_PUBLIC_CONDITIONED_COST_FUNCTION_H_
+
+#include <vector>
+
+#include "ceres/cost_function.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+
+namespace ceres {
+
+// This class allows you to apply different conditioning to the residual
+// values of a wrapped cost function. An example where this is useful is
+// where you have an existing cost function that produces N values, but you
+// want the total cost to be something other than just the sum of these
+// squared values - maybe you want to apply a different scaling to some
+// values, to change their contribution to the cost.
+//
+// Usage:
+//
+// // my_cost_function produces N residuals
+// CostFunction* my_cost_function = ...
+// CHECK_EQ(N, my_cost_function->num_residuals());
+// vector<CostFunction*> conditioners;
+//
+// // Make N 1x1 cost functions (1 parameter, 1 residual)
+// CostFunction* f_1 = ...
+// conditioners.push_back(f_1);
+// ...
+// CostFunction* f_N = ...
+// conditioners.push_back(f_N);
+// ConditionedCostFunction* ccf =
+// new ConditionedCostFunction(my_cost_function, conditioners);
+//
+// Now ccf's residual i (i=0..N-1) will be passed though the i'th conditioner.
+//
+// ccf_residual[i] = f_i(my_cost_function_residual[i])
+//
+// and the Jacobian will be affected appropriately.
+class ConditionedCostFunction : public CostFunction {
+ public:
+ // Builds a cost function based on a wrapped cost function, and a
+ // per-residual conditioner. Takes ownership of all of the wrapped cost
+ // functions, or not, depending on the ownership parameter. Conditioners
+ // may be NULL, in which case the corresponding residual is not modified.
+ ConditionedCostFunction(CostFunction* wrapped_cost_function,
+ const vector<CostFunction*>& conditioners,
+ Ownership ownership);
+ virtual ~ConditionedCostFunction();
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const;
+
+ private:
+ internal::scoped_ptr<CostFunction> wrapped_cost_function_;
+ vector<CostFunction*> conditioners_;
+ Ownership ownership_;
+};
+
+} // namespace ceres
+
+
+#endif // CERES_PUBLIC_CONDITIONED_COST_FUNCTION_H_
diff --git a/include/ceres/cost_function.h b/include/ceres/cost_function.h
new file mode 100644
index 0000000..9b010f7
--- /dev/null
+++ b/include/ceres/cost_function.h
@@ -0,0 +1,127 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+// keir@google.m (Keir Mierle)
+//
+// This is the interface through which the least squares solver accesses the
+// residual and Jacobian of the least squares problem. Users are expected to
+// subclass CostFunction to define their own terms in the least squares problem.
+//
+// It is recommended that users define templated residual functors for use as
+// arguments for AutoDiffCostFunction (see autodiff_cost_function.h), instead of
+// directly implementing the CostFunction interface. This often results in both
+// shorter code and faster execution than hand-coded derivatives. However,
+// specialized cases may demand direct implementation of the lower-level
+// CostFunction interface; for example, this is true when calling legacy code
+// which is not templated on numeric types.
+
+#ifndef CERES_PUBLIC_COST_FUNCTION_H_
+#define CERES_PUBLIC_COST_FUNCTION_H_
+
+#include <vector>
+#include "ceres/internal/macros.h"
+#include "ceres/internal/port.h"
+#include "ceres/types.h"
+
+namespace ceres {
+
+// This class implements the computation of the cost (a.k.a. residual) terms as
+// a function of the input (control) variables, and is the interface for users
+// to describe their least squares problem to Ceres. In other words, this is the
+// modelling layer between users and the Ceres optimizer. The signature of the
+// function (number and sizes of input parameter blocks and number of outputs)
+// is stored in parameter_block_sizes_ and num_residuals_ respectively. User
+// code inheriting from this class is expected to set these two members with the
+// corresponding accessors. This information will be verified by the Problem
+// when added with AddResidualBlock().
+class CostFunction {
+ public:
+ CostFunction() : num_residuals_(0) {}
+
+ virtual ~CostFunction() {}
+
+ // Inputs:
+ //
+ // parameters is an array of pointers to arrays containing the
+ // various parameter blocks. parameters has the same number of
+ // elements as parameter_block_sizes_. Parameter blocks are in the
+ // same order as parameter_block_sizes_.i.e.,
+ //
+ // parameters_[i] = double[parameter_block_sizes_[i]]
+ //
+ // Outputs:
+ //
+ // residuals is an array of size num_residuals_.
+ //
+ // jacobians is an array of size parameter_block_sizes_ containing
+ // pointers to storage for jacobian blocks corresponding to each
+ // parameter block. Jacobian blocks are in the same order as
+ // parameter_block_sizes, i.e. jacobians[i], is an
+ // array that contains num_residuals_* parameter_block_sizes_[i]
+ // elements. Each jacobian block is stored in row-major order, i.e.,
+ //
+ // jacobians[i][r*parameter_block_size_[i] + c] =
+ // d residual[r] / d parameters[i][c]
+ //
+ // If jacobians is NULL, then no derivatives are returned; this is
+ // the case when computing cost only. If jacobians[i] is NULL, then
+ // the jacobian block corresponding to the i'th parameter block must
+ // not to be returned.
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const = 0;
+
+ const vector<int16>& parameter_block_sizes() const {
+ return parameter_block_sizes_;
+ }
+
+ int num_residuals() const {
+ return num_residuals_;
+ }
+
+ protected:
+ vector<int16>* mutable_parameter_block_sizes() {
+ return ¶meter_block_sizes_;
+ }
+
+ void set_num_residuals(int num_residuals) {
+ num_residuals_ = num_residuals;
+ }
+
+ private:
+ // Cost function signature metadata: number of inputs & their sizes,
+ // number of outputs (residuals).
+ vector<int16> parameter_block_sizes_;
+ int num_residuals_;
+ CERES_DISALLOW_COPY_AND_ASSIGN(CostFunction);
+};
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_COST_FUNCTION_H_
diff --git a/include/ceres/crs_matrix.h b/include/ceres/crs_matrix.h
new file mode 100644
index 0000000..c9fe8f7
--- /dev/null
+++ b/include/ceres/crs_matrix.h
@@ -0,0 +1,65 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_PUBLIC_CRS_MATRIX_H_
+#define CERES_PUBLIC_CRS_MATRIX_H_
+
+#include <vector>
+#include "ceres/internal/port.h"
+
+namespace ceres {
+
+// A compressed row sparse matrix used primarily for communicating the
+// Jacobian matrix to the user.
+struct CRSMatrix {
+ CRSMatrix() : num_rows(0), num_cols(0) {}
+
+ int num_rows;
+ int num_cols;
+
+ // A compressed row matrix stores its contents in three arrays.
+ // The non-zero pattern of the i^th row is given by
+ //
+ // rows[cols[i] ... cols[i + 1]]
+ //
+ // and the corresponding values by
+ //
+ // values[cols[i] ... cols[i + 1]]
+ //
+ // Thus, cols is a vector of size num_cols + 1, and rows and values
+ // have as many entries as number of non-zeros in the matrix.
+ vector<int> cols;
+ vector<int> rows;
+ vector<double> values;
+};
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_CRS_MATRIX_H_
diff --git a/include/ceres/fpclassify.h b/include/ceres/fpclassify.h
new file mode 100644
index 0000000..5a9ea15
--- /dev/null
+++ b/include/ceres/fpclassify.h
@@ -0,0 +1,88 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// Portable floating point classification. The names are picked such that they
+// do not collide with macros. For example, "isnan" in C99 is a macro and hence
+// does not respect namespaces.
+//
+// TODO(keir): Finish porting!
+
+#ifndef CERES_PUBLIC_FPCLASSIFY_H_
+#define CERES_PUBLIC_FPCLASSIFY_H_
+
+#if defined(_MSC_VER)
+#include <float.h>
+#endif
+
+namespace ceres {
+
+#if defined(_MSC_VER)
+inline bool IsFinite (double x) { return _finite(x); }
+inline bool IsInfinite(double x) { return !_finite(x) && !_isnan(x); }
+inline bool IsNaN (double x) { return _isnan(x); }
+inline bool IsNormal (double x) {
+ int classification = _fpclass(x);
+ return classification == _FPCLASS_NN ||
+ classification == _FPCLASS_PN;
+}
+#elif defined(ANDROID)
+
+// On Android when using the GNU STL, the C++ fpclassify functions are not
+// available. Strictly speaking, the std functions are are not standard until
+// C++11. Instead use the C99 macros on Android.
+inline bool IsNaN (double x) { return isnan(x); }
+inline bool IsNormal (double x) { return isnormal(x); }
+
+// On Android NDK r6, when using STLPort, the isinf and isfinite functions are
+// not available, so reimplement them.
+# if defined(_STLPORT_VERSION)
+inline bool IsInfinite(double x) {
+ return x == std::numeric_limits<double>::infinity() ||
+ x == -std::numeric_limits<double>::infinity();
+}
+inline bool IsFinite(double x) {
+ return !isnan(x) && !IsInfinite(x);
+}
+# else
+inline bool IsFinite (double x) { return isfinite(x); }
+inline bool IsInfinite(double x) { return isinf(x); }
+# endif // defined(_STLPORT_VERSION)
+#else
+// These definitions are for the normal Unix suspects.
+// TODO(keir): Test the "else" with more platforms.
+inline bool IsFinite (double x) { return std::isfinite(x); }
+inline bool IsInfinite(double x) { return std::isinf(x); }
+inline bool IsNaN (double x) { return std::isnan(x); }
+inline bool IsNormal (double x) { return std::isnormal(x); }
+#endif
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_FPCLASSIFY_H_
diff --git a/include/ceres/gradient_checker.h b/include/ceres/gradient_checker.h
new file mode 100644
index 0000000..2ce605d
--- /dev/null
+++ b/include/ceres/gradient_checker.h
@@ -0,0 +1,221 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+// Copyright 2007 Google Inc. All Rights Reserved.
+//
+// Author: wjr@google.com (William Rucklidge)
+//
+// This file contains a class that exercises a cost function, to make sure
+// that it is computing reasonable derivatives. It compares the Jacobians
+// computed by the cost function with those obtained by finite
+// differences.
+
+#ifndef CERES_PUBLIC_GRADIENT_CHECKER_H_
+#define CERES_PUBLIC_GRADIENT_CHECKER_H_
+
+#include <algorithm>
+#include <cstddef>
+#include <vector>
+
+#include <glog/logging.h>
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/fixed_array.h"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/numeric_diff_cost_function.h"
+
+namespace ceres {
+
+// An object that exercises a cost function, to compare the answers that it
+// gives with derivatives estimated using finite differencing.
+//
+// The only likely usage of this is for testing.
+//
+// How to use: Fill in an array of pointers to parameter blocks for your
+// CostFunction, and then call Probe(). Check that the return value is
+// 'true'. See prober_test.cc for an example.
+//
+// This is templated similarly to NumericDiffCostFunction, as it internally
+// uses that.
+template <typename CostFunctionToProbe,
+ int M = 0, int N0 = 0, int N1 = 0, int N2 = 0, int N3 = 0, int N4 = 0>
+class GradientChecker {
+ public:
+ // Here we stash some results from the probe, for later
+ // inspection.
+ struct GradientCheckResults {
+ // Computed cost.
+ Vector cost;
+
+ // The sizes of these matrices are dictated by the cost function's
+ // parameter and residual block sizes. Each vector's length will
+ // term->parameter_block_sizes().size(), and each matrix is the
+ // Jacobian of the residual with respect to the corresponding parameter
+ // block.
+
+ // Derivatives as computed by the cost function.
+ vector<Matrix> term_jacobians;
+
+ // Derivatives as computed by finite differencing.
+ vector<Matrix> finite_difference_jacobians;
+
+ // Infinity-norm of term_jacobians - finite_difference_jacobians.
+ double error_jacobians;
+ };
+
+ // Checks the Jacobian computed by a cost function.
+ //
+ // probe_point: The parameter values at which to probe.
+ // error_tolerance: A threshold for the infinity-norm difference
+ // between the Jacobians. If the Jacobians differ by more than
+ // this amount, then the probe fails.
+ //
+ // term: The cost function to test. Not retained after this call returns.
+ //
+ // results: On return, the two Jacobians (and other information)
+ // will be stored here. May be NULL.
+ //
+ // Returns true if no problems are detected and the difference between the
+ // Jacobians is less than error_tolerance.
+ static bool Probe(double const* const* probe_point,
+ double error_tolerance,
+ CostFunctionToProbe *term,
+ GradientCheckResults* results) {
+ CHECK_NOTNULL(probe_point);
+ CHECK_NOTNULL(term);
+ LOG(INFO) << "-------------------- Starting Probe() --------------------";
+
+ // We need a GradientCheckeresults, whether or not they supplied one.
+ internal::scoped_ptr<GradientCheckResults> owned_results;
+ if (results == NULL) {
+ owned_results.reset(new GradientCheckResults);
+ results = owned_results.get();
+ }
+
+ // Do a consistency check between the term and the template parameters.
+ CHECK_EQ(M, term->num_residuals());
+ const int num_residuals = M;
+ const vector<int16>& block_sizes = term->parameter_block_sizes();
+ const int num_blocks = block_sizes.size();
+
+ CHECK_LE(num_blocks, 5) << "Unable to test functions that take more "
+ << "than 5 parameter blocks";
+ if (N0) {
+ CHECK_EQ(N0, block_sizes[0]);
+ CHECK_GE(num_blocks, 1);
+ } else {
+ CHECK_LT(num_blocks, 1);
+ }
+ if (N1) {
+ CHECK_EQ(N1, block_sizes[1]);
+ CHECK_GE(num_blocks, 2);
+ } else {
+ CHECK_LT(num_blocks, 2);
+ }
+ if (N2) {
+ CHECK_EQ(N2, block_sizes[2]);
+ CHECK_GE(num_blocks, 3);
+ } else {
+ CHECK_LT(num_blocks, 3);
+ }
+ if (N3) {
+ CHECK_EQ(N3, block_sizes[3]);
+ CHECK_GE(num_blocks, 4);
+ } else {
+ CHECK_LT(num_blocks, 4);
+ }
+ if (N4) {
+ CHECK_EQ(N4, block_sizes[4]);
+ CHECK_GE(num_blocks, 5);
+ } else {
+ CHECK_LT(num_blocks, 5);
+ }
+
+ results->term_jacobians.clear();
+ results->term_jacobians.resize(num_blocks);
+ results->finite_difference_jacobians.clear();
+ results->finite_difference_jacobians.resize(num_blocks);
+
+ internal::FixedArray<double*> term_jacobian_pointers(num_blocks);
+ internal::FixedArray<double*> finite_difference_jacobian_pointers(num_blocks);
+ for (int i = 0; i < num_blocks; i++) {
+ results->term_jacobians[i].resize(num_residuals, block_sizes[i]);
+ term_jacobian_pointers[i] = results->term_jacobians[i].data();
+ results->finite_difference_jacobians[i].resize(
+ num_residuals, block_sizes[i]);
+ finite_difference_jacobian_pointers[i] =
+ results->finite_difference_jacobians[i].data();
+ }
+ results->cost.resize(num_residuals, 1);
+
+ CHECK(term->Evaluate(probe_point, results->cost.data(),
+ term_jacobian_pointers.get()));
+ NumericDiffCostFunction<CostFunctionToProbe, CENTRAL, M, N0, N1, N2, N3, N4>
+ numeric_term(term, DO_NOT_TAKE_OWNERSHIP);
+ CHECK(numeric_term.Evaluate(probe_point, results->cost.data(),
+ finite_difference_jacobian_pointers.get()));
+
+ results->error_jacobians = 0;
+ for (int i = 0; i < num_blocks; i++) {
+ Matrix jacobian_difference = results->term_jacobians[i] -
+ results->finite_difference_jacobians[i];
+ results->error_jacobians =
+ std::max(results->error_jacobians,
+ jacobian_difference.lpNorm<Eigen::Infinity>());
+ }
+
+ LOG(INFO) << "========== term-computed derivatives ==========";
+ for (int i = 0; i < num_blocks; i++) {
+ LOG(INFO) << "term_computed block " << i;
+ LOG(INFO) << "\n" << results->term_jacobians[i];
+ }
+
+ LOG(INFO) << "========== finite-difference derivatives ==========";
+ for (int i = 0; i < num_blocks; i++) {
+ LOG(INFO) << "finite_difference block " << i;
+ LOG(INFO) << "\n" << results->finite_difference_jacobians[i];
+ }
+
+ LOG(INFO) << "========== difference ==========";
+ for (int i = 0; i < num_blocks; i++) {
+ LOG(INFO) << "difference block " << i;
+ LOG(INFO) << (results->term_jacobians[i] -
+ results->finite_difference_jacobians[i]);
+ }
+
+ LOG(INFO) << "||difference|| = " << results->error_jacobians;
+
+ return results->error_jacobians < error_tolerance;
+ }
+
+ private:
+ CERES_DISALLOW_IMPLICIT_CONSTRUCTORS(GradientChecker);
+};
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_GRADIENT_CHECKER_H_
diff --git a/include/ceres/internal/autodiff.h b/include/ceres/internal/autodiff.h
new file mode 100644
index 0000000..581e881
--- /dev/null
+++ b/include/ceres/internal/autodiff.h
@@ -0,0 +1,450 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// Computation of the Jacobian matrix for vector-valued functions of multiple
+// variables, using automatic differentiation based on the implementation of
+// dual numbers in jet.h. Before reading the rest of this file, it is adivsable
+// to read jet.h's header comment in detail.
+//
+// The helper wrapper AutoDiff::Differentiate() computes the jacobian of
+// functors with templated operator() taking this form:
+//
+// struct F {
+// template<typename T>
+// bool operator(const T *x, const T *y, ..., T *z) {
+// // Compute z[] based on x[], y[], ...
+// // return true if computation succeeded, false otherwise.
+// }
+// };
+//
+// All inputs and outputs may be vector-valued.
+//
+// To understand how jets are used to compute the jacobian, a
+// picture may help. Consider a vector-valued function, F, returning 3
+// dimensions and taking a vector-valued parameter of 4 dimensions:
+//
+// y x
+// [ * ] F [ * ]
+// [ * ] <--- [ * ]
+// [ * ] [ * ]
+// [ * ]
+//
+// Similar to the 2-parameter example for f described in jet.h, computing the
+// jacobian dy/dx is done by substutiting a suitable jet object for x and all
+// intermediate steps of the computation of F. Since x is has 4 dimensions, use
+// a Jet<double, 4>.
+//
+// Before substituting a jet object for x, the dual components are set
+// appropriately for each dimension of x:
+//
+// y x
+// [ * | * * * * ] f [ * | 1 0 0 0 ] x0
+// [ * | * * * * ] <--- [ * | 0 1 0 0 ] x1
+// [ * | * * * * ] [ * | 0 0 1 0 ] x2
+// ---+--- [ * | 0 0 0 1 ] x3
+// | ^ ^ ^ ^
+// dy/dx | | | +----- infinitesimal for x3
+// | | +------- infinitesimal for x2
+// | +--------- infinitesimal for x1
+// +----------- infinitesimal for x0
+//
+// The reason to set the internal 4x4 submatrix to the identity is that we wish
+// to take the derivative of y separately with respect to each dimension of x.
+// Each column of the 4x4 identity is therefore for a single component of the
+// independent variable x.
+//
+// Then the jacobian of the mapping, dy/dx, is the 3x4 sub-matrix of the
+// extended y vector, indicated in the above diagram.
+//
+// Functors with multiple parameters
+// ---------------------------------
+// In practice, it is often convenient to use a function f of two or more
+// vector-valued parameters, for example, x[3] and z[6]. Unfortunately, the jet
+// framework is designed for a single-parameter vector-valued input. The wrapper
+// in this file addresses this issue adding support for functions with one or
+// more parameter vectors.
+//
+// To support multiple parameters, all the parameter vectors are concatenated
+// into one and treated as a single parameter vector, except that since the
+// functor expects different inputs, we need to construct the jets as if they
+// were part of a single parameter vector. The extended jets are passed
+// separately for each parameter.
+//
+// For example, consider a functor F taking two vector parameters, p[2] and
+// q[3], and producing an output y[4]:
+//
+// struct F {
+// template<typename T>
+// bool operator(const T *p, const T *q, T *z) {
+// // ...
+// }
+// };
+//
+// In this case, the necessary jet type is Jet<double, 5>. Here is a
+// visualization of the jet objects in this case:
+//
+// Dual components for p ----+
+// |
+// -+-
+// y [ * | 1 0 | 0 0 0 ] --- p[0]
+// [ * | 0 1 | 0 0 0 ] --- p[1]
+// [ * | . . | + + + ] |
+// [ * | . . | + + + ] v
+// [ * | . . | + + + ] <--- F(p, q)
+// [ * | . . | + + + ] ^
+// ^^^ ^^^^^ |
+// dy/dp dy/dq [ * | 0 0 | 1 0 0 ] --- q[0]
+// [ * | 0 0 | 0 1 0 ] --- q[1]
+// [ * | 0 0 | 0 0 1 ] --- q[2]
+// --+--
+// |
+// Dual components for q --------------+
+//
+// where the 4x2 submatrix (marked with ".") and 4x3 submatrix (marked with "+"
+// of y in the above diagram are the derivatives of y with respect to p and q
+// respectively. This is how autodiff works for functors taking multiple vector
+// valued arguments (up to 6).
+//
+// Jacobian NULL pointers
+// ----------------------
+// In general, the functions below will accept NULL pointers for all or some of
+// the Jacobian parameters, meaning that those Jacobians will not be computed.
+
+#ifndef CERES_PUBLIC_INTERNAL_AUTODIFF_H_
+#define CERES_PUBLIC_INTERNAL_AUTODIFF_H_
+
+#include <stddef.h>
+
+#include <glog/logging.h>
+#include "ceres/jet.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/fixed_array.h"
+
+namespace ceres {
+namespace internal {
+
+// Extends src by a 1st order pertubation for every dimension and puts it in
+// dst. The size of src is N. Since this is also used for perturbations in
+// blocked arrays, offset is used to shift which part of the jet the
+// perturbation occurs. This is used to set up the extended x augmented by an
+// identity matrix. The JetT type should be a Jet type, and T should be a
+// numeric type (e.g. double). For example,
+//
+// 0 1 2 3 4 5 6 7 8
+// dst[0] [ * | . . | 1 0 0 | . . . ]
+// dst[1] [ * | . . | 0 1 0 | . . . ]
+// dst[2] [ * | . . | 0 0 1 | . . . ]
+//
+// is what would get put in dst if N was 3, offset was 3, and the jet type JetT
+// was 8-dimensional.
+template <typename JetT, typename T>
+inline void Make1stOrderPerturbation(int offset, int N, const T *src,
+ JetT *dst) {
+ DCHECK(src);
+ DCHECK(dst);
+ for (int j = 0; j < N; ++j) {
+ dst[j] = JetT(src[j], offset + j);
+ }
+}
+
+// Takes the 0th order part of src, assumed to be a Jet type, and puts it in
+// dst. This is used to pick out the "vector" part of the extended y.
+template <typename JetT, typename T>
+inline void Take0thOrderPart(int M, const JetT *src, T dst) {
+ DCHECK(src);
+ for (int i = 0; i < M; ++i) {
+ dst[i] = src[i].a;
+ }
+}
+
+// Takes N 1st order parts, starting at index N0, and puts them in the M x N
+// matrix 'dst'. This is used to pick out the "matrix" parts of the extended y.
+template <typename JetT, typename T, int N0, int N>
+inline void Take1stOrderPart(const int M, const JetT *src, T *dst) {
+ DCHECK(src);
+ DCHECK(dst);
+ for (int i = 0; i < M; ++i) {
+ Eigen::Map<Eigen::Matrix<T, N, 1> >(dst + N * i, N) = src[i].v.template segment<N>(N0);
+ }
+}
+
+// This block of quasi-repeated code calls the user-supplied functor, which may
+// take a variable number of arguments. This is accomplished by specializing the
+// struct based on the size of the trailing parameters; parameters with 0 size
+// are assumed missing.
+//
+// Supporting variadic functions is the primary source of complexity in the
+// autodiff implementation.
+
+template<typename Functor, typename T, int N0, int N1, int N2, int N3, int N4,
+ int N5, int N6, int N7, int N8, int N9>
+struct VariadicEvaluate {
+ static bool Call(const Functor& functor, T const *const *input, T* output) {
+ return functor(input[0],
+ input[1],
+ input[2],
+ input[3],
+ input[4],
+ input[5],
+ input[6],
+ input[7],
+ input[8],
+ input[9],
+ output);
+ }
+};
+
+template<typename Functor, typename T, int N0, int N1, int N2, int N3, int N4,
+ int N5, int N6, int N7, int N8>
+struct VariadicEvaluate<Functor, T, N0, N1, N2, N3, N4, N5, N6, N7, N8, 0> {
+ static bool Call(const Functor& functor, T const *const *input, T* output) {
+ return functor(input[0],
+ input[1],
+ input[2],
+ input[3],
+ input[4],
+ input[5],
+ input[6],
+ input[7],
+ input[8],
+ output);
+ }
+};
+
+template<typename Functor, typename T, int N0, int N1, int N2, int N3, int N4,
+ int N5, int N6, int N7>
+struct VariadicEvaluate<Functor, T, N0, N1, N2, N3, N4, N5, N6, N7, 0, 0> {
+ static bool Call(const Functor& functor, T const *const *input, T* output) {
+ return functor(input[0],
+ input[1],
+ input[2],
+ input[3],
+ input[4],
+ input[5],
+ input[6],
+ input[7],
+ output);
+ }
+};
+
+template<typename Functor, typename T, int N0, int N1, int N2, int N3, int N4,
+ int N5, int N6>
+struct VariadicEvaluate<Functor, T, N0, N1, N2, N3, N4, N5, N6, 0, 0, 0> {
+ static bool Call(const Functor& functor, T const *const *input, T* output) {
+ return functor(input[0],
+ input[1],
+ input[2],
+ input[3],
+ input[4],
+ input[5],
+ input[6],
+ output);
+ }
+};
+
+template<typename Functor, typename T, int N0, int N1, int N2, int N3, int N4,
+ int N5>
+struct VariadicEvaluate<Functor, T, N0, N1, N2, N3, N4, N5, 0, 0, 0, 0> {
+ static bool Call(const Functor& functor, T const *const *input, T* output) {
+ return functor(input[0],
+ input[1],
+ input[2],
+ input[3],
+ input[4],
+ input[5],
+ output);
+ }
+};
+
+template<typename Functor, typename T, int N0, int N1, int N2, int N3, int N4>
+struct VariadicEvaluate<Functor, T, N0, N1, N2, N3, N4, 0, 0, 0, 0, 0> {
+ static bool Call(const Functor& functor, T const *const *input, T* output) {
+ return functor(input[0],
+ input[1],
+ input[2],
+ input[3],
+ input[4],
+ output);
+ }
+};
+
+template<typename Functor, typename T, int N0, int N1, int N2, int N3>
+struct VariadicEvaluate<Functor, T, N0, N1, N2, N3, 0, 0, 0, 0, 0, 0> {
+ static bool Call(const Functor& functor, T const *const *input, T* output) {
+ return functor(input[0],
+ input[1],
+ input[2],
+ input[3],
+ output);
+ }
+};
+
+template<typename Functor, typename T, int N0, int N1, int N2>
+struct VariadicEvaluate<Functor, T, N0, N1, N2, 0, 0, 0, 0, 0, 0, 0> {
+ static bool Call(const Functor& functor, T const *const *input, T* output) {
+ return functor(input[0],
+ input[1],
+ input[2],
+ output);
+ }
+};
+
+template<typename Functor, typename T, int N0, int N1>
+struct VariadicEvaluate<Functor, T, N0, N1, 0, 0, 0, 0, 0, 0, 0, 0> {
+ static bool Call(const Functor& functor, T const *const *input, T* output) {
+ return functor(input[0],
+ input[1],
+ output);
+ }
+};
+
+template<typename Functor, typename T, int N0>
+struct VariadicEvaluate<Functor, T, N0, 0, 0, 0, 0, 0, 0, 0, 0, 0> {
+ static bool Call(const Functor& functor, T const *const *input, T* output) {
+ return functor(input[0],
+ output);
+ }
+};
+
+// This is in a struct because default template parameters on a function are not
+// supported in C++03 (though it is available in C++0x). N0 through N5 are the
+// dimension of the input arguments to the user supplied functor.
+template <typename Functor, typename T,
+ int N0 = 0, int N1 = 0, int N2 = 0, int N3 = 0, int N4 = 0,
+ int N5 = 0, int N6 = 0, int N7 = 0, int N8 = 0, int N9 = 0>
+struct AutoDiff {
+ static bool Differentiate(const Functor& functor,
+ T const *const *parameters,
+ int num_outputs,
+ T *function_value,
+ T **jacobians) {
+ // This block breaks the 80 column rule to keep it somewhat readable.
+ DCHECK_GT(num_outputs, 0);
+ CHECK((!N1 && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
+ ((N1 > 0) && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
+ ((N1 > 0) && (N2 > 0) && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && !N5 && !N6 && !N7 && !N8 && !N9) ||
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && !N6 && !N7 && !N8 && !N9) ||
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && !N7 && !N8 && !N9) ||
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && !N8 && !N9) ||
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && !N9) ||
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && (N9 > 0)))
+ << "Zero block cannot precede a non-zero block. Block sizes are "
+ << "(ignore trailing 0s): " << N0 << ", " << N1 << ", " << N2 << ", "
+ << N3 << ", " << N4 << ", " << N5 << ", " << N6 << ", " << N7 << ", "
+ << N8 << ", " << N9;
+
+ typedef Jet<T, N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7 + N8 + N9> JetT;
+ FixedArray<JetT, (256 * 7) / sizeof(JetT)> x(
+ N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7 + N8 + N9 + num_outputs);
+
+ // These are the positions of the respective jets in the fixed array x.
+ const int jet0 = 0;
+ const int jet1 = N0;
+ const int jet2 = N0 + N1;
+ const int jet3 = N0 + N1 + N2;
+ const int jet4 = N0 + N1 + N2 + N3;
+ const int jet5 = N0 + N1 + N2 + N3 + N4;
+ const int jet6 = N0 + N1 + N2 + N3 + N4 + N5;
+ const int jet7 = N0 + N1 + N2 + N3 + N4 + N5 + N6;
+ const int jet8 = N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7;
+ const int jet9 = N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7 + N8;
+
+ const JetT *unpacked_parameters[10] = {
+ x.get() + jet0,
+ x.get() + jet1,
+ x.get() + jet2,
+ x.get() + jet3,
+ x.get() + jet4,
+ x.get() + jet5,
+ x.get() + jet6,
+ x.get() + jet7,
+ x.get() + jet8,
+ x.get() + jet9,
+ };
+ JetT *output = x.get() + jet6;
+
+#define CERES_MAKE_1ST_ORDER_PERTURBATION(i) \
+ if (N ## i) { \
+ internal::Make1stOrderPerturbation(jet ## i, \
+ N ## i, \
+ parameters[i], \
+ x.get() + jet ## i); \
+ }
+ CERES_MAKE_1ST_ORDER_PERTURBATION(0);
+ CERES_MAKE_1ST_ORDER_PERTURBATION(1);
+ CERES_MAKE_1ST_ORDER_PERTURBATION(2);
+ CERES_MAKE_1ST_ORDER_PERTURBATION(3);
+ CERES_MAKE_1ST_ORDER_PERTURBATION(4);
+ CERES_MAKE_1ST_ORDER_PERTURBATION(5);
+ CERES_MAKE_1ST_ORDER_PERTURBATION(6);
+ CERES_MAKE_1ST_ORDER_PERTURBATION(7);
+ CERES_MAKE_1ST_ORDER_PERTURBATION(8);
+ CERES_MAKE_1ST_ORDER_PERTURBATION(9);
+#undef CERES_MAKE_1ST_ORDER_PERTURBATION
+
+ if (!VariadicEvaluate<Functor, JetT,
+ N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>::Call(
+ functor, unpacked_parameters, output)) {
+ return false;
+ }
+
+ internal::Take0thOrderPart(num_outputs, output, function_value);
+
+#define CERES_TAKE_1ST_ORDER_PERTURBATION(i) \
+ if (N ## i) { \
+ if (jacobians[i]) { \
+ internal::Take1stOrderPart<JetT, T, \
+ jet ## i, \
+ N ## i>(num_outputs, \
+ output, \
+ jacobians[i]); \
+ } \
+ }
+ CERES_TAKE_1ST_ORDER_PERTURBATION(0);
+ CERES_TAKE_1ST_ORDER_PERTURBATION(1);
+ CERES_TAKE_1ST_ORDER_PERTURBATION(2);
+ CERES_TAKE_1ST_ORDER_PERTURBATION(3);
+ CERES_TAKE_1ST_ORDER_PERTURBATION(4);
+ CERES_TAKE_1ST_ORDER_PERTURBATION(5);
+ CERES_TAKE_1ST_ORDER_PERTURBATION(6);
+ CERES_TAKE_1ST_ORDER_PERTURBATION(7);
+ CERES_TAKE_1ST_ORDER_PERTURBATION(8);
+ CERES_TAKE_1ST_ORDER_PERTURBATION(9);
+#undef CERES_TAKE_1ST_ORDER_PERTURBATION
+ return true;
+ }
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_PUBLIC_INTERNAL_AUTODIFF_H_
diff --git a/include/ceres/internal/eigen.h b/include/ceres/internal/eigen.h
new file mode 100644
index 0000000..be76f9e
--- /dev/null
+++ b/include/ceres/internal/eigen.h
@@ -0,0 +1,80 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_EIGEN_H_
+#define CERES_INTERNAL_EIGEN_H_
+
+#include "Eigen/Core"
+
+namespace ceres {
+
+using Eigen::Dynamic;
+using Eigen::RowMajor;
+
+typedef Eigen::Matrix<double, Dynamic, 1> Vector;
+typedef Eigen::Matrix<double, Dynamic, Dynamic, RowMajor> Matrix;
+typedef Eigen::Map<Vector> VectorRef;
+typedef Eigen::Map<Matrix> MatrixRef;
+typedef Eigen::Map<Matrix, Eigen::Aligned> AlignedMatrixRef;
+typedef Eigen::Map<const Vector> ConstVectorRef;
+typedef Eigen::Map<const Matrix, Eigen::Aligned> ConstAlignedMatrixRef;
+typedef Eigen::Map<const Matrix> ConstMatrixRef;
+
+// C++ does not support templated typdefs, thus the need for this
+// struct so that we can support statically sized Matrix and Maps.
+template <int num_rows = Eigen::Dynamic, int num_cols = Eigen::Dynamic>
+struct EigenTypes {
+ typedef Eigen::Matrix <double, num_rows, num_cols, RowMajor>
+ Matrix;
+
+ typedef Eigen::Map<
+ Eigen::Matrix<double, num_rows, num_cols, RowMajor> >
+ MatrixRef;
+
+ typedef Eigen::Matrix <double, num_rows, 1>
+ Vector;
+
+ typedef Eigen::Map <
+ Eigen::Matrix<double, num_rows, 1> >
+ VectorRef;
+
+
+ typedef Eigen::Map<
+ const Eigen::Matrix<double, num_rows, num_cols, RowMajor> >
+ ConstMatrixRef;
+
+ typedef Eigen::Map <
+ const Eigen::Matrix<double, num_rows, 1> >
+ ConstVectorRef;
+};
+
+} // namespace ceres
+
+#endif // CERES_INTERNAL_EIGEN_H_
diff --git a/include/ceres/internal/fixed_array.h b/include/ceres/internal/fixed_array.h
new file mode 100644
index 0000000..fa4a339
--- /dev/null
+++ b/include/ceres/internal/fixed_array.h
@@ -0,0 +1,195 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: rennie@google.com (Jeffrey Rennie)
+// Author: sanjay@google.com (Sanjay Ghemawat) -- renamed to FixedArray
+
+#ifndef CERES_PUBLIC_INTERNAL_FIXED_ARRAY_H_
+#define CERES_PUBLIC_INTERNAL_FIXED_ARRAY_H_
+
+#include <cstddef>
+#include <glog/logging.h>
+#include "Eigen/Core"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/manual_constructor.h"
+
+namespace ceres {
+namespace internal {
+
+// A FixedArray<T> represents a non-resizable array of T where the
+// length of the array does not need to be a compile time constant.
+//
+// FixedArray allocates small arrays inline, and large arrays on
+// the heap. It is a good replacement for non-standard and deprecated
+// uses of alloca() and variable length arrays (a GCC extension).
+//
+// FixedArray keeps performance fast for small arrays, because it
+// avoids heap operations. It also helps reduce the chances of
+// accidentally overflowing your stack if large input is passed to
+// your function.
+//
+// Also, FixedArray is useful for writing portable code. Not all
+// compilers support arrays of dynamic size.
+
+// Most users should not specify an inline_elements argument and let
+// FixedArray<> automatically determine the number of elements
+// to store inline based on sizeof(T).
+//
+// If inline_elements is specified, the FixedArray<> implementation
+// will store arrays of length <= inline_elements inline.
+//
+// Finally note that unlike vector<T> FixedArray<T> will not zero-initialize
+// simple types like int, double, bool, etc.
+//
+// Non-POD types will be default-initialized just like regular vectors or
+// arrays.
+
+#if defined(_WIN64)
+ typedef __int64 ssize_t;
+#elif defined(_WIN32)
+ typedef __int32 ssize_t;
+#endif
+
+template <typename T, ssize_t inline_elements = -1>
+class FixedArray {
+ public:
+ // For playing nicely with stl:
+ typedef T value_type;
+ typedef T* iterator;
+ typedef T const* const_iterator;
+ typedef T& reference;
+ typedef T const& const_reference;
+ typedef T* pointer;
+ typedef std::ptrdiff_t difference_type;
+ typedef size_t size_type;
+
+ // REQUIRES: n >= 0
+ // Creates an array object that can store "n" elements.
+ //
+ // FixedArray<T> will not zero-initialiaze POD (simple) types like int,
+ // double, bool, etc.
+ // Non-POD types will be default-initialized just like regular vectors or
+ // arrays.
+ explicit FixedArray(size_type n);
+
+ // Releases any resources.
+ ~FixedArray();
+
+ // Returns the length of the array.
+ inline size_type size() const { return size_; }
+
+ // Returns the memory size of the array in bytes.
+ inline size_t memsize() const { return size_ * sizeof(T); }
+
+ // Returns a pointer to the underlying element array.
+ inline const T* get() const { return &array_[0].element; }
+ inline T* get() { return &array_[0].element; }
+
+ // REQUIRES: 0 <= i < size()
+ // Returns a reference to the "i"th element.
+ inline T& operator[](size_type i) {
+ DCHECK_GE(i, 0);
+ DCHECK_LT(i, size_);
+ return array_[i].element;
+ }
+
+ // REQUIRES: 0 <= i < size()
+ // Returns a reference to the "i"th element.
+ inline const T& operator[](size_type i) const {
+ DCHECK_GE(i, 0);
+ DCHECK_LT(i, size_);
+ return array_[i].element;
+ }
+
+ inline iterator begin() { return &array_[0].element; }
+ inline iterator end() { return &array_[size_].element; }
+
+ inline const_iterator begin() const { return &array_[0].element; }
+ inline const_iterator end() const { return &array_[size_].element; }
+
+ private:
+ // Container to hold elements of type T. This is necessary to handle
+ // the case where T is a a (C-style) array. The size of InnerContainer
+ // and T must be the same, otherwise callers' assumptions about use
+ // of this code will be broken.
+ struct InnerContainer {
+ T element;
+ };
+
+ // How many elements should we store inline?
+ // a. If not specified, use a default of 256 bytes (256 bytes
+ // seems small enough to not cause stack overflow or unnecessary
+ // stack pollution, while still allowing stack allocation for
+ // reasonably long character arrays.
+ // b. Never use 0 length arrays (not ISO C++)
+ static const size_type S1 = ((inline_elements < 0)
+ ? (256/sizeof(T)) : inline_elements);
+ static const size_type S2 = (S1 <= 0) ? 1 : S1;
+ static const size_type kInlineElements = S2;
+
+ size_type const size_;
+ InnerContainer* const array_;
+
+ // Allocate some space, not an array of elements of type T, so that we can
+ // skip calling the T constructors and destructors for space we never use.
+ ManualConstructor<InnerContainer> inline_space_[kInlineElements];
+};
+
+// Implementation details follow
+
+template <class T, ssize_t S>
+inline FixedArray<T, S>::FixedArray(typename FixedArray<T, S>::size_type n)
+ : size_(n),
+ array_((n <= kInlineElements
+ ? reinterpret_cast<InnerContainer*>(inline_space_)
+ : new InnerContainer[n])) {
+ DCHECK_GE(n, size_t(0));
+
+ // Construct only the elements actually used.
+ if (array_ == reinterpret_cast<InnerContainer*>(inline_space_)) {
+ for (size_t i = 0; i != size_; ++i) {
+ inline_space_[i].Init();
+ }
+ }
+}
+
+template <class T, ssize_t S>
+inline FixedArray<T, S>::~FixedArray() {
+ if (array_ != reinterpret_cast<InnerContainer*>(inline_space_)) {
+ delete[] array_;
+ } else {
+ for (size_t i = 0; i != size_; ++i) {
+ inline_space_[i].Destroy();
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_PUBLIC_INTERNAL_FIXED_ARRAY_H_
diff --git a/include/ceres/internal/macros.h b/include/ceres/internal/macros.h
new file mode 100644
index 0000000..83ec311
--- /dev/null
+++ b/include/ceres/internal/macros.h
@@ -0,0 +1,171 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+//
+// Various Google-specific macros.
+//
+// This code is compiled directly on many platforms, including client
+// platforms like Windows, Mac, and embedded systems. Before making
+// any changes here, make sure that you're not breaking any platforms.
+
+#ifndef CERES_PUBLIC_INTERNAL_MACROS_H_
+#define CERES_PUBLIC_INTERNAL_MACROS_H_
+
+#include <cstddef> // For size_t.
+
+// A macro to disallow the copy constructor and operator= functions
+// This should be used in the private: declarations for a class
+//
+// For disallowing only assign or copy, write the code directly, but declare
+// the intend in a comment, for example:
+//
+// void operator=(const TypeName&); // _DISALLOW_ASSIGN
+
+// Note, that most uses of CERES_DISALLOW_ASSIGN and CERES_DISALLOW_COPY
+// are broken semantically, one should either use disallow both or
+// neither. Try to avoid these in new code.
+#define CERES_DISALLOW_COPY_AND_ASSIGN(TypeName) \
+ TypeName(const TypeName&); \
+ void operator=(const TypeName&)
+
+// A macro to disallow all the implicit constructors, namely the
+// default constructor, copy constructor and operator= functions.
+//
+// This should be used in the private: declarations for a class
+// that wants to prevent anyone from instantiating it. This is
+// especially useful for classes containing only static methods.
+#define CERES_DISALLOW_IMPLICIT_CONSTRUCTORS(TypeName) \
+ TypeName(); \
+ CERES_DISALLOW_COPY_AND_ASSIGN(TypeName)
+
+// The arraysize(arr) macro returns the # of elements in an array arr.
+// The expression is a compile-time constant, and therefore can be
+// used in defining new arrays, for example. If you use arraysize on
+// a pointer by mistake, you will get a compile-time error.
+//
+// One caveat is that arraysize() doesn't accept any array of an
+// anonymous type or a type defined inside a function. In these rare
+// cases, you have to use the unsafe ARRAYSIZE() macro below. This is
+// due to a limitation in C++'s template system. The limitation might
+// eventually be removed, but it hasn't happened yet.
+
+// This template function declaration is used in defining arraysize.
+// Note that the function doesn't need an implementation, as we only
+// use its type.
+template <typename T, size_t N>
+char (&ArraySizeHelper(T (&array)[N]))[N];
+
+// That gcc wants both of these prototypes seems mysterious. VC, for
+// its part, can't decide which to use (another mystery). Matching of
+// template overloads: the final frontier.
+#ifndef _WIN32
+template <typename T, size_t N>
+char (&ArraySizeHelper(const T (&array)[N]))[N];
+#endif
+
+#define arraysize(array) (sizeof(ArraySizeHelper(array)))
+
+// ARRAYSIZE performs essentially the same calculation as arraysize,
+// but can be used on anonymous types or types defined inside
+// functions. It's less safe than arraysize as it accepts some
+// (although not all) pointers. Therefore, you should use arraysize
+// whenever possible.
+//
+// The expression ARRAYSIZE(a) is a compile-time constant of type
+// size_t.
+//
+// ARRAYSIZE catches a few type errors. If you see a compiler error
+//
+// "warning: division by zero in ..."
+//
+// when using ARRAYSIZE, you are (wrongfully) giving it a pointer.
+// You should only use ARRAYSIZE on statically allocated arrays.
+//
+// The following comments are on the implementation details, and can
+// be ignored by the users.
+//
+// ARRAYSIZE(arr) works by inspecting sizeof(arr) (the # of bytes in
+// the array) and sizeof(*(arr)) (the # of bytes in one array
+// element). If the former is divisible by the latter, perhaps arr is
+// indeed an array, in which case the division result is the # of
+// elements in the array. Otherwise, arr cannot possibly be an array,
+// and we generate a compiler error to prevent the code from
+// compiling.
+//
+// Since the size of bool is implementation-defined, we need to cast
+// !(sizeof(a) & sizeof(*(a))) to size_t in order to ensure the final
+// result has type size_t.
+//
+// This macro is not perfect as it wrongfully accepts certain
+// pointers, namely where the pointer size is divisible by the pointee
+// size. Since all our code has to go through a 32-bit compiler,
+// where a pointer is 4 bytes, this means all pointers to a type whose
+// size is 3 or greater than 4 will be (righteously) rejected.
+//
+// Kudos to Jorg Brown for this simple and elegant implementation.
+//
+// - wan 2005-11-16
+//
+// Starting with Visual C++ 2005, WinNT.h includes ARRAYSIZE. However,
+// the definition comes from the over-broad windows.h header that
+// introduces a macro, ERROR, that conflicts with the logging framework
+// that Ceres uses. Instead, rename ARRAYSIZE to CERES_ARRAYSIZE.
+#define CERES_ARRAYSIZE(a) \
+ ((sizeof(a) / sizeof(*(a))) / \
+ static_cast<size_t>(!(sizeof(a) % sizeof(*(a)))))
+
+// Tell the compiler to warn about unused return values for functions declared
+// with this macro. The macro should be used on function declarations
+// following the argument list:
+//
+// Sprocket* AllocateSprocket() MUST_USE_RESULT;
+//
+#undef MUST_USE_RESULT
+#if (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) \
+ && !defined(COMPILER_ICC)
+#define MUST_USE_RESULT __attribute__ ((warn_unused_result))
+#else
+#define MUST_USE_RESULT
+#endif
+
+// Platform independent macros to get aligned memory allocations.
+// For example
+//
+// MyFoo my_foo CERES_ALIGN_ATTRIBUTE(16);
+//
+// Gives us an instance of MyFoo which is aligned at a 16 byte
+// boundary.
+#if defined(_MSC_VER)
+#define CERES_ALIGN_ATTRIBUTE(n) __declspec(align(n))
+#define CERES_ALIGN_OF(T) __alignof(T)
+#elif defined(__GNUC__)
+#define CERES_ALIGN_ATTRIBUTE(n) __attribute__((aligned(n)))
+#define CERES_ALIGN_OF(T) __alignof(T)
+#endif
+
+#endif // CERES_PUBLIC_INTERNAL_MACROS_H_
diff --git a/include/ceres/internal/manual_constructor.h b/include/ceres/internal/manual_constructor.h
new file mode 100644
index 0000000..7ea723d
--- /dev/null
+++ b/include/ceres/internal/manual_constructor.h
@@ -0,0 +1,208 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: kenton@google.com (Kenton Varda)
+//
+// ManualConstructor statically-allocates space in which to store some
+// object, but does not initialize it. You can then call the constructor
+// and destructor for the object yourself as you see fit. This is useful
+// for memory management optimizations, where you want to initialize and
+// destroy an object multiple times but only allocate it once.
+//
+// (When I say ManualConstructor statically allocates space, I mean that
+// the ManualConstructor object itself is forced to be the right size.)
+
+#ifndef CERES_PUBLIC_INTERNAL_MANUAL_CONSTRUCTOR_H_
+#define CERES_PUBLIC_INTERNAL_MANUAL_CONSTRUCTOR_H_
+
+#include <new>
+
+namespace ceres {
+namespace internal {
+
+// ------- Define CERES_ALIGNED_CHAR_ARRAY --------------------------------
+
+#ifndef CERES_ALIGNED_CHAR_ARRAY
+
+// Because MSVC and older GCCs require that the argument to their alignment
+// construct to be a literal constant integer, we use a template instantiated
+// at all the possible powers of two.
+template<int alignment, int size> struct AlignType { };
+template<int size> struct AlignType<0, size> { typedef char result[size]; };
+
+#if !defined(CERES_ALIGN_ATTRIBUTE)
+#define CERES_ALIGNED_CHAR_ARRAY you_must_define_CERES_ALIGNED_CHAR_ARRAY_for_your_compiler
+#else // !defined(CERES_ALIGN_ATTRIBUTE)
+
+#define CERES_ALIGN_TYPE_TEMPLATE(X) \
+ template<int size> struct AlignType<X, size> { \
+ typedef CERES_ALIGN_ATTRIBUTE(X) char result[size]; \
+ }
+
+CERES_ALIGN_TYPE_TEMPLATE(1);
+CERES_ALIGN_TYPE_TEMPLATE(2);
+CERES_ALIGN_TYPE_TEMPLATE(4);
+CERES_ALIGN_TYPE_TEMPLATE(8);
+CERES_ALIGN_TYPE_TEMPLATE(16);
+CERES_ALIGN_TYPE_TEMPLATE(32);
+CERES_ALIGN_TYPE_TEMPLATE(64);
+CERES_ALIGN_TYPE_TEMPLATE(128);
+CERES_ALIGN_TYPE_TEMPLATE(256);
+CERES_ALIGN_TYPE_TEMPLATE(512);
+CERES_ALIGN_TYPE_TEMPLATE(1024);
+CERES_ALIGN_TYPE_TEMPLATE(2048);
+CERES_ALIGN_TYPE_TEMPLATE(4096);
+CERES_ALIGN_TYPE_TEMPLATE(8192);
+// Any larger and MSVC++ will complain.
+
+#undef CERES_ALIGN_TYPE_TEMPLATE
+
+#define CERES_ALIGNED_CHAR_ARRAY(T, Size) \
+ typename AlignType<CERES_ALIGN_OF(T), sizeof(T) * Size>::result
+
+#endif // !defined(CERES_ALIGN_ATTRIBUTE)
+
+#endif // CERES_ALIGNED_CHAR_ARRAY
+
+template <typename Type>
+class ManualConstructor {
+ public:
+ // No constructor or destructor because one of the most useful uses of
+ // this class is as part of a union, and members of a union cannot have
+ // constructors or destructors. And, anyway, the whole point of this
+ // class is to bypass these.
+
+ inline Type* get() {
+ return reinterpret_cast<Type*>(space_);
+ }
+ inline const Type* get() const {
+ return reinterpret_cast<const Type*>(space_);
+ }
+
+ inline Type* operator->() { return get(); }
+ inline const Type* operator->() const { return get(); }
+
+ inline Type& operator*() { return *get(); }
+ inline const Type& operator*() const { return *get(); }
+
+ // This is needed to get around the strict aliasing warning GCC generates.
+ inline void* space() {
+ return reinterpret_cast<void*>(space_);
+ }
+
+ // You can pass up to four constructor arguments as arguments of Init().
+ inline void Init() {
+ new(space()) Type;
+ }
+
+ template <typename T1>
+ inline void Init(const T1& p1) {
+ new(space()) Type(p1);
+ }
+
+ template <typename T1, typename T2>
+ inline void Init(const T1& p1, const T2& p2) {
+ new(space()) Type(p1, p2);
+ }
+
+ template <typename T1, typename T2, typename T3>
+ inline void Init(const T1& p1, const T2& p2, const T3& p3) {
+ new(space()) Type(p1, p2, p3);
+ }
+
+ template <typename T1, typename T2, typename T3, typename T4>
+ inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4) {
+ new(space()) Type(p1, p2, p3, p4);
+ }
+
+ template <typename T1, typename T2, typename T3, typename T4, typename T5>
+ inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
+ const T5& p5) {
+ new(space()) Type(p1, p2, p3, p4, p5);
+ }
+
+ template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6>
+ inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
+ const T5& p5, const T6& p6) {
+ new(space()) Type(p1, p2, p3, p4, p5, p6);
+ }
+
+ template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7>
+ inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
+ const T5& p5, const T6& p6, const T7& p7) {
+ new(space()) Type(p1, p2, p3, p4, p5, p6, p7);
+ }
+
+ template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8>
+ inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
+ const T5& p5, const T6& p6, const T7& p7, const T8& p8) {
+ new(space()) Type(p1, p2, p3, p4, p5, p6, p7, p8);
+ }
+
+ template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9>
+ inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
+ const T5& p5, const T6& p6, const T7& p7, const T8& p8,
+ const T9& p9) {
+ new(space()) Type(p1, p2, p3, p4, p5, p6, p7, p8, p9);
+ }
+
+ template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10>
+ inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
+ const T5& p5, const T6& p6, const T7& p7, const T8& p8,
+ const T9& p9, const T10& p10) {
+ new(space()) Type(p1, p2, p3, p4, p5, p6, p7, p8, p9, p10);
+ }
+
+ template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11>
+ inline void Init(const T1& p1, const T2& p2, const T3& p3, const T4& p4,
+ const T5& p5, const T6& p6, const T7& p7, const T8& p8,
+ const T9& p9, const T10& p10, const T11& p11) {
+ new(space()) Type(p1, p2, p3, p4, p5, p6, p7, p8, p9, p10, p11);
+ }
+
+ inline void Destroy() {
+ get()->~Type();
+ }
+
+ private:
+ CERES_ALIGNED_CHAR_ARRAY(Type, 1) space_;
+};
+
+#undef CERES_ALIGNED_CHAR_ARRAY
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_PUBLIC_INTERNAL_MANUAL_CONSTRUCTOR_H_
diff --git a/include/ceres/internal/port.h b/include/ceres/internal/port.h
new file mode 100644
index 0000000..a9fe247
--- /dev/null
+++ b/include/ceres/internal/port.h
@@ -0,0 +1,50 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#ifndef CERES_PUBLIC_INTERNAL_PORT_H_
+#define CERES_PUBLIC_INTERNAL_PORT_H_
+
+#include <string>
+
+namespace ceres {
+
+// It is unfortunate that this import of the entire standard namespace is
+// necessary. The reasons are historical and won't be explained here, but
+// suffice to say it is not a mistake and can't be removed without breaking
+// things outside of the Ceres optimization package.
+using namespace std;
+
+// This is necessary to properly handle the case that there is a different
+// "string" implementation in the global namespace.
+using std::string;
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_INTERNAL_PORT_H_
diff --git a/include/ceres/internal/scoped_ptr.h b/include/ceres/internal/scoped_ptr.h
new file mode 100644
index 0000000..44f198b
--- /dev/null
+++ b/include/ceres/internal/scoped_ptr.h
@@ -0,0 +1,311 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: jorg@google.com (Jorg Brown)
+//
+// This is an implementation designed to match the anticipated future TR2
+// implementation of the scoped_ptr class, and its closely-related brethren,
+// scoped_array, scoped_ptr_malloc, and make_scoped_ptr.
+
+#ifndef CERES_PUBLIC_INTERNAL_SCOPED_PTR_H_
+#define CERES_PUBLIC_INTERNAL_SCOPED_PTR_H_
+
+#include <assert.h>
+#include <stdlib.h>
+#include <cstddef>
+
+namespace ceres {
+namespace internal {
+
+template <class C> class scoped_ptr;
+template <class C, class Free> class scoped_ptr_malloc;
+template <class C> class scoped_array;
+
+template <class C>
+scoped_ptr<C> make_scoped_ptr(C *);
+
+// A scoped_ptr<T> is like a T*, except that the destructor of scoped_ptr<T>
+// automatically deletes the pointer it holds (if any). That is, scoped_ptr<T>
+// owns the T object that it points to. Like a T*, a scoped_ptr<T> may hold
+// either NULL or a pointer to a T object. Also like T*, scoped_ptr<T> is
+// thread-compatible, and once you dereference it, you get the threadsafety
+// guarantees of T.
+//
+// The size of a scoped_ptr is small: sizeof(scoped_ptr<C>) == sizeof(C*)
+template <class C>
+class scoped_ptr {
+ public:
+
+ // The element type
+ typedef C element_type;
+
+ // Constructor. Defaults to intializing with NULL.
+ // There is no way to create an uninitialized scoped_ptr.
+ // The input parameter must be allocated with new.
+ explicit scoped_ptr(C* p = NULL) : ptr_(p) { }
+
+ // Destructor. If there is a C object, delete it.
+ // We don't need to test ptr_ == NULL because C++ does that for us.
+ ~scoped_ptr() {
+ enum { type_must_be_complete = sizeof(C) };
+ delete ptr_;
+ }
+
+ // Reset. Deletes the current owned object, if any.
+ // Then takes ownership of a new object, if given.
+ // this->reset(this->get()) works.
+ void reset(C* p = NULL) {
+ if (p != ptr_) {
+ enum { type_must_be_complete = sizeof(C) };
+ delete ptr_;
+ ptr_ = p;
+ }
+ }
+
+ // Accessors to get the owned object.
+ // operator* and operator-> will assert() if there is no current object.
+ C& operator*() const {
+ assert(ptr_ != NULL);
+ return *ptr_;
+ }
+ C* operator->() const {
+ assert(ptr_ != NULL);
+ return ptr_;
+ }
+ C* get() const { return ptr_; }
+
+ // Comparison operators.
+ // These return whether a scoped_ptr and a raw pointer refer to
+ // the same object, not just to two different but equal objects.
+ bool operator==(const C* p) const { return ptr_ == p; }
+ bool operator!=(const C* p) const { return ptr_ != p; }
+
+ // Swap two scoped pointers.
+ void swap(scoped_ptr& p2) {
+ C* tmp = ptr_;
+ ptr_ = p2.ptr_;
+ p2.ptr_ = tmp;
+ }
+
+ // Release a pointer.
+ // The return value is the current pointer held by this object.
+ // If this object holds a NULL pointer, the return value is NULL.
+ // After this operation, this object will hold a NULL pointer,
+ // and will not own the object any more.
+ C* release() {
+ C* retVal = ptr_;
+ ptr_ = NULL;
+ return retVal;
+ }
+
+ private:
+ C* ptr_;
+
+ // google3 friend class that can access copy ctor (although if it actually
+ // calls a copy ctor, there will be a problem) see below
+ friend scoped_ptr<C> make_scoped_ptr<C>(C *p);
+
+ // Forbid comparison of scoped_ptr types. If C2 != C, it totally doesn't
+ // make sense, and if C2 == C, it still doesn't make sense because you should
+ // never have the same object owned by two different scoped_ptrs.
+ template <class C2> bool operator==(scoped_ptr<C2> const& p2) const;
+ template <class C2> bool operator!=(scoped_ptr<C2> const& p2) const;
+
+ // Disallow evil constructors
+ scoped_ptr(const scoped_ptr&);
+ void operator=(const scoped_ptr&);
+};
+
+// Free functions
+template <class C>
+inline void swap(scoped_ptr<C>& p1, scoped_ptr<C>& p2) {
+ p1.swap(p2);
+}
+
+template <class C>
+inline bool operator==(const C* p1, const scoped_ptr<C>& p2) {
+ return p1 == p2.get();
+}
+
+template <class C>
+inline bool operator==(const C* p1, const scoped_ptr<const C>& p2) {
+ return p1 == p2.get();
+}
+
+template <class C>
+inline bool operator!=(const C* p1, const scoped_ptr<C>& p2) {
+ return p1 != p2.get();
+}
+
+template <class C>
+inline bool operator!=(const C* p1, const scoped_ptr<const C>& p2) {
+ return p1 != p2.get();
+}
+
+template <class C>
+scoped_ptr<C> make_scoped_ptr(C *p) {
+ // This does nothing but to return a scoped_ptr of the type that the passed
+ // pointer is of. (This eliminates the need to specify the name of T when
+ // making a scoped_ptr that is used anonymously/temporarily.) From an
+ // access control point of view, we construct an unnamed scoped_ptr here
+ // which we return and thus copy-construct. Hence, we need to have access
+ // to scoped_ptr::scoped_ptr(scoped_ptr const &). However, it is guaranteed
+ // that we never actually call the copy constructor, which is a good thing
+ // as we would call the temporary's object destructor (and thus delete p)
+ // if we actually did copy some object, here.
+ return scoped_ptr<C>(p);
+}
+
+// scoped_array<C> is like scoped_ptr<C>, except that the caller must allocate
+// with new [] and the destructor deletes objects with delete [].
+//
+// As with scoped_ptr<C>, a scoped_array<C> either points to an object
+// or is NULL. A scoped_array<C> owns the object that it points to.
+// scoped_array<T> is thread-compatible, and once you index into it,
+// the returned objects have only the threadsafety guarantees of T.
+//
+// Size: sizeof(scoped_array<C>) == sizeof(C*)
+template <class C>
+class scoped_array {
+ public:
+
+ // The element type
+ typedef C element_type;
+
+ // Constructor. Defaults to intializing with NULL.
+ // There is no way to create an uninitialized scoped_array.
+ // The input parameter must be allocated with new [].
+ explicit scoped_array(C* p = NULL) : array_(p) { }
+
+ // Destructor. If there is a C object, delete it.
+ // We don't need to test ptr_ == NULL because C++ does that for us.
+ ~scoped_array() {
+ enum { type_must_be_complete = sizeof(C) };
+ delete[] array_;
+ }
+
+ // Reset. Deletes the current owned object, if any.
+ // Then takes ownership of a new object, if given.
+ // this->reset(this->get()) works.
+ void reset(C* p = NULL) {
+ if (p != array_) {
+ enum { type_must_be_complete = sizeof(C) };
+ delete[] array_;
+ array_ = p;
+ }
+ }
+
+ // Get one element of the current object.
+ // Will assert() if there is no current object, or index i is negative.
+ C& operator[](std::ptrdiff_t i) const {
+ assert(i >= 0);
+ assert(array_ != NULL);
+ return array_[i];
+ }
+
+ // Get a pointer to the zeroth element of the current object.
+ // If there is no current object, return NULL.
+ C* get() const {
+ return array_;
+ }
+
+ // Comparison operators.
+ // These return whether a scoped_array and a raw pointer refer to
+ // the same array, not just to two different but equal arrays.
+ bool operator==(const C* p) const { return array_ == p; }
+ bool operator!=(const C* p) const { return array_ != p; }
+
+ // Swap two scoped arrays.
+ void swap(scoped_array& p2) {
+ C* tmp = array_;
+ array_ = p2.array_;
+ p2.array_ = tmp;
+ }
+
+ // Release an array.
+ // The return value is the current pointer held by this object.
+ // If this object holds a NULL pointer, the return value is NULL.
+ // After this operation, this object will hold a NULL pointer,
+ // and will not own the object any more.
+ C* release() {
+ C* retVal = array_;
+ array_ = NULL;
+ return retVal;
+ }
+
+ private:
+ C* array_;
+
+ // Forbid comparison of different scoped_array types.
+ template <class C2> bool operator==(scoped_array<C2> const& p2) const;
+ template <class C2> bool operator!=(scoped_array<C2> const& p2) const;
+
+ // Disallow evil constructors
+ scoped_array(const scoped_array&);
+ void operator=(const scoped_array&);
+};
+
+// Free functions
+template <class C>
+inline void swap(scoped_array<C>& p1, scoped_array<C>& p2) {
+ p1.swap(p2);
+}
+
+template <class C>
+inline bool operator==(const C* p1, const scoped_array<C>& p2) {
+ return p1 == p2.get();
+}
+
+template <class C>
+inline bool operator==(const C* p1, const scoped_array<const C>& p2) {
+ return p1 == p2.get();
+}
+
+template <class C>
+inline bool operator!=(const C* p1, const scoped_array<C>& p2) {
+ return p1 != p2.get();
+}
+
+template <class C>
+inline bool operator!=(const C* p1, const scoped_array<const C>& p2) {
+ return p1 != p2.get();
+}
+
+// This class wraps the c library function free() in a class that can be
+// passed as a template argument to scoped_ptr_malloc below.
+class ScopedPtrMallocFree {
+ public:
+ inline void operator()(void* x) const {
+ free(x);
+ }
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_PUBLIC_INTERNAL_SCOPED_PTR_H_
diff --git a/include/ceres/iteration_callback.h b/include/ceres/iteration_callback.h
new file mode 100644
index 0000000..57cf0a6
--- /dev/null
+++ b/include/ceres/iteration_callback.h
@@ -0,0 +1,200 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// When an iteration callback is specified, Ceres calls the callback
+// after each minimizer step (if the minimizer has not converged) and
+// passes it an IterationSummary object, defined below.
+
+#ifndef CERES_PUBLIC_ITERATION_CALLBACK_H_
+#define CERES_PUBLIC_ITERATION_CALLBACK_H_
+
+#include "ceres/types.h"
+
+namespace ceres {
+
+// This struct describes the state of the optimizer after each
+// iteration of the minimization.
+struct IterationSummary {
+ IterationSummary()
+ : iteration(0),
+ step_is_valid(false),
+ step_is_nonmonotonic(false),
+ step_is_successful(false),
+ cost(0.0),
+ cost_change(0.0),
+ gradient_max_norm(0.0),
+ step_norm(0.0),
+ eta(0.0),
+ linear_solver_iterations(0),
+ iteration_time_in_seconds(0.0),
+ step_solver_time_in_seconds(0.0),
+ cumulative_time_in_seconds(0.0) {}
+
+ // Current iteration number.
+ int32 iteration;
+
+ // Step was numerically valid, i.e., all values are finite and the
+ // step reduces the value of the linearized model.
+ //
+ // Note: step_is_valid is false when iteration = 0.
+ bool step_is_valid;
+
+ // Step did not reduce the value of the objective function
+ // sufficiently, but it was accepted because of the relaxed
+ // acceptance criterion used by the non-monotonic trust region
+ // algorithm.
+ //
+ // Note: step_is_nonmonotonic is false when iteration = 0;
+ bool step_is_nonmonotonic;
+
+ // Whether or not the minimizer accepted this step or not. If the
+ // ordinary trust region algorithm is used, this means that the
+ // relative reduction in the objective function value was greater
+ // than Solver::Options::min_relative_decrease. However, if the
+ // non-monotonic trust region algorithm is used
+ // (Solver::Options:use_nonmonotonic_steps = true), then even if the
+ // relative decrease is not sufficient, the algorithm may accept the
+ // step and the step is declared successful.
+ //
+ // Note: step_is_successful is false when iteration = 0.
+ bool step_is_successful;
+
+ // Value of the objective function.
+ double cost;
+
+ // Change in the value of the objective function in this
+ // iteration. This can be positive or negative.
+ double cost_change;
+
+ // Infinity norm of the gradient vector.
+ double gradient_max_norm;
+
+ // 2-norm of the size of the step computed by the optimization
+ // algorithm.
+ double step_norm;
+
+ // For trust region algorithms, the ratio of the actual change in
+ // cost and the change in the cost of the linearized approximation.
+ double relative_decrease;
+
+ // Size of the trust region at the end of the current iteration. For
+ // the Levenberg-Marquardt algorithm, the regularization parameter
+ // mu = 1.0 / trust_region_radius.
+ double trust_region_radius;
+
+ // For the inexact step Levenberg-Marquardt algorithm, this is the
+ // relative accuracy with which the Newton(LM) step is solved. This
+ // number affects only the iterative solvers capable of solving
+ // linear systems inexactly. Factorization-based exact solvers
+ // ignore it.
+ double eta;
+
+ // Number of iterations taken by the linear solver to solve for the
+ // Newton step.
+ int linear_solver_iterations;
+
+ // Time (in seconds) spent inside the minimizer loop in the current
+ // iteration.
+ double iteration_time_in_seconds;
+
+ // Time (in seconds) spent inside the trust region step solver.
+ double step_solver_time_in_seconds;
+
+ // Time (in seconds) since the user called Solve().
+ double cumulative_time_in_seconds;
+};
+
+// Interface for specifying callbacks that are executed at the end of
+// each iteration of the Minimizer. The solver uses the return value
+// of operator() to decide whether to continue solving or to
+// terminate. The user can return three values.
+//
+// SOLVER_ABORT indicates that the callback detected an abnormal
+// situation. The solver returns without updating the parameter blocks
+// (unless Solver::Options::update_state_every_iteration is set
+// true). Solver returns with Solver::Summary::termination_type set to
+// USER_ABORT.
+//
+// SOLVER_TERMINATE_SUCCESSFULLY indicates that there is no need to
+// optimize anymore (some user specified termination criterion has
+// been met). Solver returns with Solver::Summary::termination_type
+// set to USER_SUCCESS.
+//
+// SOLVER_CONTINUE indicates that the solver should continue
+// optimizing.
+//
+// For example, the following Callback is used internally by Ceres to
+// log the progress of the optimization.
+//
+// Callback for logging the state of the minimizer to STDERR or STDOUT
+// depending on the user's preferences and logging level.
+//
+// class LoggingCallback : public IterationCallback {
+// public:
+// explicit LoggingCallback(bool log_to_stdout)
+// : log_to_stdout_(log_to_stdout) {}
+//
+// ~LoggingCallback() {}
+//
+// CallbackReturnType operator()(const IterationSummary& summary) {
+// const char* kReportRowFormat =
+// "% 4d: f:% 8e d:% 3.2e g:% 3.2e h:% 3.2e "
+// "rho:% 3.2e mu:% 3.2e eta:% 3.2e li:% 3d";
+// string output = StringPrintf(kReportRowFormat,
+// summary.iteration,
+// summary.cost,
+// summary.cost_change,
+// summary.gradient_max_norm,
+// summary.step_norm,
+// summary.relative_decrease,
+// summary.trust_region_radius,
+// summary.eta,
+// summary.linear_solver_iterations);
+// if (log_to_stdout_) {
+// cout << output << endl;
+// } else {
+// VLOG(1) << output;
+// }
+// return SOLVER_CONTINUE;
+// }
+//
+// private:
+// const bool log_to_stdout_;
+// };
+//
+class IterationCallback {
+ public:
+ virtual ~IterationCallback() {}
+ virtual CallbackReturnType operator()(const IterationSummary& summary) = 0;
+};
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_ITERATION_CALLBACK_H_
diff --git a/include/ceres/jet.h b/include/ceres/jet.h
new file mode 100644
index 0000000..96e2256
--- /dev/null
+++ b/include/ceres/jet.h
@@ -0,0 +1,678 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// A simple implementation of N-dimensional dual numbers, for automatically
+// computing exact derivatives of functions.
+//
+// While a complete treatment of the mechanics of automatic differentation is
+// beyond the scope of this header (see
+// http://en.wikipedia.org/wiki/Automatic_differentiation for details), the
+// basic idea is to extend normal arithmetic with an extra element, "e," often
+// denoted with the greek symbol epsilon, such that e != 0 but e^2 = 0. Dual
+// numbers are extensions of the real numbers analogous to complex numbers:
+// whereas complex numbers augment the reals by introducing an imaginary unit i
+// such that i^2 = -1, dual numbers introduce an "infinitesimal" unit e such
+// that e^2 = 0. Dual numbers have two components: the "real" component and the
+// "infinitesimal" component, generally written as x + y*e. Surprisingly, this
+// leads to a convenient method for computing exact derivatives without needing
+// to manipulate complicated symbolic expressions.
+//
+// For example, consider the function
+//
+// f(x) = x^2 ,
+//
+// evaluated at 10. Using normal arithmetic, f(10) = 100, and df/dx(10) = 20.
+// Next, augument 10 with an infinitesimal to get:
+//
+// f(10 + e) = (10 + e)^2
+// = 100 + 2 * 10 * e + e^2
+// = 100 + 20 * e -+-
+// -- |
+// | +--- This is zero, since e^2 = 0
+// |
+// +----------------- This is df/dx!
+//
+// Note that the derivative of f with respect to x is simply the infinitesimal
+// component of the value of f(x + e). So, in order to take the derivative of
+// any function, it is only necessary to replace the numeric "object" used in
+// the function with one extended with infinitesimals. The class Jet, defined in
+// this header, is one such example of this, where substitution is done with
+// templates.
+//
+// To handle derivatives of functions taking multiple arguments, different
+// infinitesimals are used, one for each variable to take the derivative of. For
+// example, consider a scalar function of two scalar parameters x and y:
+//
+// f(x, y) = x^2 + x * y
+//
+// Following the technique above, to compute the derivatives df/dx and df/dy for
+// f(1, 3) involves doing two evaluations of f, the first time replacing x with
+// x + e, the second time replacing y with y + e.
+//
+// For df/dx:
+//
+// f(1 + e, y) = (1 + e)^2 + (1 + e) * 3
+// = 1 + 2 * e + 3 + 3 * e
+// = 4 + 5 * e
+//
+// --> df/dx = 5
+//
+// For df/dy:
+//
+// f(1, 3 + e) = 1^2 + 1 * (3 + e)
+// = 1 + 3 + e
+// = 4 + e
+//
+// --> df/dy = 1
+//
+// To take the gradient of f with the implementation of dual numbers ("jets") in
+// this file, it is necessary to create a single jet type which has components
+// for the derivative in x and y, and passing them to a templated version of f:
+//
+// template<typename T>
+// T f(const T &x, const T &y) {
+// return x * x + x * y;
+// }
+//
+// // The "2" means there should be 2 dual number components.
+// Jet<double, 2> x(0); // Pick the 0th dual number for x.
+// Jet<double, 2> y(1); // Pick the 1st dual number for y.
+// Jet<double, 2> z = f(x, y);
+//
+// LG << "df/dx = " << z.a[0]
+// << "df/dy = " << z.a[1];
+//
+// Most users should not use Jet objects directly; a wrapper around Jet objects,
+// which makes computing the derivative, gradient, or jacobian of templated
+// functors simple, is in autodiff.h. Even autodiff.h should not be used
+// directly; instead autodiff_cost_function.h is typically the file of interest.
+//
+// For the more mathematically inclined, this file implements first-order
+// "jets". A 1st order jet is an element of the ring
+//
+// T[N] = T[t_1, ..., t_N] / (t_1, ..., t_N)^2
+//
+// which essentially means that each jet consists of a "scalar" value 'a' from T
+// and a 1st order perturbation vector 'v' of length N:
+//
+// x = a + \sum_i v[i] t_i
+//
+// A shorthand is to write an element as x = a + u, where u is the pertubation.
+// Then, the main point about the arithmetic of jets is that the product of
+// perturbations is zero:
+//
+// (a + u) * (b + v) = ab + av + bu + uv
+// = ab + (av + bu) + 0
+//
+// which is what operator* implements below. Addition is simpler:
+//
+// (a + u) + (b + v) = (a + b) + (u + v).
+//
+// The only remaining question is how to evaluate the function of a jet, for
+// which we use the chain rule:
+//
+// f(a + u) = f(a) + f'(a) u
+//
+// where f'(a) is the (scalar) derivative of f at a.
+//
+// By pushing these things through sufficiently and suitably templated
+// functions, we can do automatic differentiation. Just be sure to turn on
+// function inlining and common-subexpression elimination, or it will be very
+// slow!
+//
+// WARNING: Most Ceres users should not directly include this file or know the
+// details of how jets work. Instead the suggested method for automatic
+// derivatives is to use autodiff_cost_function.h, which is a wrapper around
+// both jets.h and autodiff.h to make taking derivatives of cost functions for
+// use in Ceres easier.
+
+#ifndef CERES_PUBLIC_JET_H_
+#define CERES_PUBLIC_JET_H_
+
+#include <cmath>
+#include <iosfwd>
+#include <iostream> // NOLINT
+#include <string>
+
+#include "Eigen/Core"
+#include "ceres/fpclassify.h"
+
+namespace ceres {
+
+template <typename T, int N>
+struct Jet {
+ enum { DIMENSION = N };
+
+ // Default-construct "a" because otherwise this can lead to false errors about
+ // uninitialized uses when other classes relying on default constructed T
+ // (where T is a Jet<T, N>). This usually only happens in opt mode. Note that
+ // the C++ standard mandates that e.g. default constructed doubles are
+ // initialized to 0.0; see sections 8.5 of the C++03 standard.
+ Jet() : a() {
+ v.setZero();
+ }
+
+ // Constructor from scalar: a + 0.
+ explicit Jet(const T& value) {
+ a = value;
+ v.setZero();
+ }
+
+ // Constructor from scalar plus variable: a + t_i.
+ Jet(const T& value, int k) {
+ a = value;
+ v.setZero();
+ v[k] = T(1.0);
+ }
+
+ // Compound operators
+ Jet<T, N>& operator+=(const Jet<T, N> &y) {
+ *this = *this + y;
+ return *this;
+ }
+
+ Jet<T, N>& operator-=(const Jet<T, N> &y) {
+ *this = *this - y;
+ return *this;
+ }
+
+ Jet<T, N>& operator*=(const Jet<T, N> &y) {
+ *this = *this * y;
+ return *this;
+ }
+
+ Jet<T, N>& operator/=(const Jet<T, N> &y) {
+ *this = *this / y;
+ return *this;
+ }
+
+ // The scalar part.
+ T a;
+
+ // The infinitesimal part.
+ //
+ // Note the Eigen::DontAlign bit is needed here because this object
+ // gets allocated on the stack and as part of other arrays and
+ // structs. Forcing the right alignment there is the source of much
+ // pain and suffering. Even if that works, passing Jets around to
+ // functions by value has problems because the C++ ABI does not
+ // guarantee alignment for function arguments.
+ //
+ // Setting the DontAlign bit prevents Eigen from using SSE for the
+ // various operations on Jets. This is a small performance penalty
+ // since the AutoDiff code will still expose much of the code as
+ // statically sized loops to the compiler. But given the subtle
+ // issues that arise due to alignment, especially when dealing with
+ // multiple platforms, it seems to be a trade off worth making.
+ Eigen::Matrix<T, N, 1, Eigen::DontAlign> v;
+};
+
+// Unary +
+template<typename T, int N> inline
+Jet<T, N> const& operator+(const Jet<T, N>& f) {
+ return f;
+}
+
+// TODO(keir): Try adding __attribute__((always_inline)) to these functions to
+// see if it causes a performance increase.
+
+// Unary -
+template<typename T, int N> inline
+Jet<T, N> operator-(const Jet<T, N>&f) {
+ Jet<T, N> g;
+ g.a = -f.a;
+ g.v = -f.v;
+ return g;
+}
+
+// Binary +
+template<typename T, int N> inline
+Jet<T, N> operator+(const Jet<T, N>& f,
+ const Jet<T, N>& g) {
+ Jet<T, N> h;
+ h.a = f.a + g.a;
+ h.v = f.v + g.v;
+ return h;
+}
+
+// Binary + with a scalar: x + s
+template<typename T, int N> inline
+Jet<T, N> operator+(const Jet<T, N>& f, T s) {
+ Jet<T, N> h;
+ h.a = f.a + s;
+ h.v = f.v;
+ return h;
+}
+
+// Binary + with a scalar: s + x
+template<typename T, int N> inline
+Jet<T, N> operator+(T s, const Jet<T, N>& f) {
+ Jet<T, N> h;
+ h.a = f.a + s;
+ h.v = f.v;
+ return h;
+}
+
+// Binary -
+template<typename T, int N> inline
+Jet<T, N> operator-(const Jet<T, N>& f,
+ const Jet<T, N>& g) {
+ Jet<T, N> h;
+ h.a = f.a - g.a;
+ h.v = f.v - g.v;
+ return h;
+}
+
+// Binary - with a scalar: x - s
+template<typename T, int N> inline
+Jet<T, N> operator-(const Jet<T, N>& f, T s) {
+ Jet<T, N> h;
+ h.a = f.a - s;
+ h.v = f.v;
+ return h;
+}
+
+// Binary - with a scalar: s - x
+template<typename T, int N> inline
+Jet<T, N> operator-(T s, const Jet<T, N>& f) {
+ Jet<T, N> h;
+ h.a = s - f.a;
+ h.v = -f.v;
+ return h;
+}
+
+// Binary *
+template<typename T, int N> inline
+Jet<T, N> operator*(const Jet<T, N>& f,
+ const Jet<T, N>& g) {
+ Jet<T, N> h;
+ h.a = f.a * g.a;
+ h.v = f.a * g.v + f.v * g.a;
+ return h;
+}
+
+// Binary * with a scalar: x * s
+template<typename T, int N> inline
+Jet<T, N> operator*(const Jet<T, N>& f, T s) {
+ Jet<T, N> h;
+ h.a = f.a * s;
+ h.v = f.v * s;
+ return h;
+}
+
+// Binary * with a scalar: s * x
+template<typename T, int N> inline
+Jet<T, N> operator*(T s, const Jet<T, N>& f) {
+ Jet<T, N> h;
+ h.a = f.a * s;
+ h.v = f.v * s;
+ return h;
+}
+
+// Binary /
+template<typename T, int N> inline
+Jet<T, N> operator/(const Jet<T, N>& f,
+ const Jet<T, N>& g) {
+ Jet<T, N> h;
+ // This uses:
+ //
+ // a + u (a + u)(b - v) (a + u)(b - v)
+ // ----- = -------------- = --------------
+ // b + v (b + v)(b - v) b^2
+ //
+ // which holds because v*v = 0.
+ h.a = f.a / g.a;
+ h.v = (f.v - f.a / g.a * g.v) / g.a;
+ return h;
+}
+
+// Binary / with a scalar: s / x
+template<typename T, int N> inline
+Jet<T, N> operator/(T s, const Jet<T, N>& g) {
+ Jet<T, N> h;
+ h.a = s / g.a;
+ h.v = - s * g.v / (g.a * g.a);
+ return h;
+}
+
+// Binary / with a scalar: x / s
+template<typename T, int N> inline
+Jet<T, N> operator/(const Jet<T, N>& f, T s) {
+ Jet<T, N> h;
+ h.a = f.a / s;
+ h.v = f.v / s;
+ return h;
+}
+
+// Binary comparison operators for both scalars and jets.
+#define CERES_DEFINE_JET_COMPARISON_OPERATOR(op) \
+template<typename T, int N> inline \
+bool operator op(const Jet<T, N>& f, const Jet<T, N>& g) { \
+ return f.a op g.a; \
+} \
+template<typename T, int N> inline \
+bool operator op(const T& s, const Jet<T, N>& g) { \
+ return s op g.a; \
+} \
+template<typename T, int N> inline \
+bool operator op(const Jet<T, N>& f, const T& s) { \
+ return f.a op s; \
+}
+CERES_DEFINE_JET_COMPARISON_OPERATOR( < ) // NOLINT
+CERES_DEFINE_JET_COMPARISON_OPERATOR( <= ) // NOLINT
+CERES_DEFINE_JET_COMPARISON_OPERATOR( > ) // NOLINT
+CERES_DEFINE_JET_COMPARISON_OPERATOR( >= ) // NOLINT
+CERES_DEFINE_JET_COMPARISON_OPERATOR( == ) // NOLINT
+CERES_DEFINE_JET_COMPARISON_OPERATOR( != ) // NOLINT
+#undef CERES_DEFINE_JET_COMPARISON_OPERATOR
+
+// Pull some functions from namespace std.
+//
+// This is necessary because we want to use the same name (e.g. 'sqrt') for
+// double-valued and Jet-valued functions, but we are not allowed to put
+// Jet-valued functions inside namespace std.
+//
+// Missing: cosh, sinh, tanh, tan
+// TODO(keir): Switch to "using".
+inline double abs (double x) { return std::abs(x); }
+inline double log (double x) { return std::log(x); }
+inline double exp (double x) { return std::exp(x); }
+inline double sqrt (double x) { return std::sqrt(x); }
+inline double cos (double x) { return std::cos(x); }
+inline double acos (double x) { return std::acos(x); }
+inline double sin (double x) { return std::sin(x); }
+inline double asin (double x) { return std::asin(x); }
+inline double pow (double x, double y) { return std::pow(x, y); }
+inline double atan2(double y, double x) { return std::atan2(y, x); }
+
+// In general, f(a + h) ~= f(a) + f'(a) h, via the chain rule.
+
+// abs(x + h) ~= x + h or -(x + h)
+template <typename T, int N> inline
+Jet<T, N> abs(const Jet<T, N>& f) {
+ return f.a < T(0.0) ? -f : f;
+}
+
+// log(a + h) ~= log(a) + h / a
+template <typename T, int N> inline
+Jet<T, N> log(const Jet<T, N>& f) {
+ Jet<T, N> g;
+ g.a = log(f.a);
+ g.v = f.v / f.a;
+ return g;
+}
+
+// exp(a + h) ~= exp(a) + exp(a) h
+template <typename T, int N> inline
+Jet<T, N> exp(const Jet<T, N>& f) {
+ Jet<T, N> g;
+ g.a = exp(f.a);
+ g.v = g.a * f.v;
+ return g;
+}
+
+// sqrt(a + h) ~= sqrt(a) + h / (2 sqrt(a))
+template <typename T, int N> inline
+Jet<T, N> sqrt(const Jet<T, N>& f) {
+ Jet<T, N> g;
+ g.a = sqrt(f.a);
+ g.v = f.v / (T(2.0) * g.a);
+ return g;
+}
+
+// cos(a + h) ~= cos(a) - sin(a) h
+template <typename T, int N> inline
+Jet<T, N> cos(const Jet<T, N>& f) {
+ Jet<T, N> g;
+ g.a = cos(f.a);
+ T sin_a = sin(f.a);
+ g.v = - sin_a * f.v;
+ return g;
+}
+
+// acos(a + h) ~= acos(a) - 1 / sqrt(1 - a^2) h
+template <typename T, int N> inline
+Jet<T, N> acos(const Jet<T, N>& f) {
+ Jet<T, N> g;
+ g.a = acos(f.a);
+ g.v = - T(1.0) / sqrt(T(1.0) - f.a * f.a) * f.v;
+ return g;
+}
+
+// sin(a + h) ~= sin(a) + cos(a) h
+template <typename T, int N> inline
+Jet<T, N> sin(const Jet<T, N>& f) {
+ Jet<T, N> g;
+ g.a = sin(f.a);
+ T cos_a = cos(f.a);
+ g.v = cos_a * f.v;
+ return g;
+}
+
+// asin(a + h) ~= asin(a) + 1 / sqrt(1 - a^2) h
+template <typename T, int N> inline
+Jet<T, N> asin(const Jet<T, N>& f) {
+ Jet<T, N> g;
+ g.a = asin(f.a);
+ g.v = T(1.0) / sqrt(T(1.0) - f.a * f.a) * f.v;
+ return g;
+}
+
+// Jet Classification. It is not clear what the appropriate semantics are for
+// these classifications. This picks that IsFinite and isnormal are "all"
+// operations, i.e. all elements of the jet must be finite for the jet itself
+// to be finite (or normal). For IsNaN and IsInfinite, the answer is less
+// clear. This takes a "any" approach for IsNaN and IsInfinite such that if any
+// part of a jet is nan or inf, then the entire jet is nan or inf. This leads
+// to strange situations like a jet can be both IsInfinite and IsNaN, but in
+// practice the "any" semantics are the most useful for e.g. checking that
+// derivatives are sane.
+
+// The jet is finite if all parts of the jet are finite.
+template <typename T, int N> inline
+bool IsFinite(const Jet<T, N>& f) {
+ if (!IsFinite(f.a)) {
+ return false;
+ }
+ for (int i = 0; i < N; ++i) {
+ if (!IsFinite(f.v[i])) {
+ return false;
+ }
+ }
+ return true;
+}
+
+// The jet is infinite if any part of the jet is infinite.
+template <typename T, int N> inline
+bool IsInfinite(const Jet<T, N>& f) {
+ if (IsInfinite(f.a)) {
+ return true;
+ }
+ for (int i = 0; i < N; i++) {
+ if (IsInfinite(f.v[i])) {
+ return true;
+ }
+ }
+ return false;
+}
+
+// The jet is NaN if any part of the jet is NaN.
+template <typename T, int N> inline
+bool IsNaN(const Jet<T, N>& f) {
+ if (IsNaN(f.a)) {
+ return true;
+ }
+ for (int i = 0; i < N; ++i) {
+ if (IsNaN(f.v[i])) {
+ return true;
+ }
+ }
+ return false;
+}
+
+// The jet is normal if all parts of the jet are normal.
+template <typename T, int N> inline
+bool IsNormal(const Jet<T, N>& f) {
+ if (!IsNormal(f.a)) {
+ return false;
+ }
+ for (int i = 0; i < N; ++i) {
+ if (!IsNormal(f.v[i])) {
+ return false;
+ }
+ }
+ return true;
+}
+
+// atan2(b + db, a + da) ~= atan2(b, a) + (- b da + a db) / (a^2 + b^2)
+//
+// In words: the rate of change of theta is 1/r times the rate of
+// change of (x, y) in the positive angular direction.
+template <typename T, int N> inline
+Jet<T, N> atan2(const Jet<T, N>& g, const Jet<T, N>& f) {
+ // Note order of arguments:
+ //
+ // f = a + da
+ // g = b + db
+
+ Jet<T, N> out;
+
+ out.a = atan2(g.a, f.a);
+
+ T const temp = T(1.0) / (f.a * f.a + g.a * g.a);
+ out.v = temp * (- g.a * f.v + f.a * g.v);
+ return out;
+}
+
+
+// pow -- base is a differentiatble function, exponent is a constant.
+// (a+da)^p ~= a^p + p*a^(p-1) da
+template <typename T, int N> inline
+Jet<T, N> pow(const Jet<T, N>& f, double g) {
+ Jet<T, N> out;
+ out.a = pow(f.a, g);
+ T const temp = g * pow(f.a, g - T(1.0));
+ out.v = temp * f.v;
+ return out;
+}
+
+// pow -- base is a constant, exponent is a differentiable function.
+// (a)^(p+dp) ~= a^p + a^p log(a) dp
+template <typename T, int N> inline
+Jet<T, N> pow(double f, const Jet<T, N>& g) {
+ Jet<T, N> out;
+ out.a = pow(f, g.a);
+ T const temp = log(f) * out.a;
+ out.v = temp * g.v;
+ return out;
+}
+
+
+// pow -- both base and exponent are differentiable functions.
+// (a+da)^(b+db) ~= a^b + b * a^(b-1) da + a^b log(a) * db
+template <typename T, int N> inline
+Jet<T, N> pow(const Jet<T, N>& f, const Jet<T, N>& g) {
+ Jet<T, N> out;
+
+ T const temp1 = pow(f.a, g.a);
+ T const temp2 = g.a * pow(f.a, g.a - T(1.0));
+ T const temp3 = temp1 * log(f.a);
+
+ out.a = temp1;
+ out.v = temp2 * f.v + temp3 * g.v;
+ return out;
+}
+
+// Define the helper functions Eigen needs to embed Jet types.
+//
+// NOTE(keir): machine_epsilon() and precision() are missing, because they don't
+// work with nested template types (e.g. where the scalar is itself templated).
+// Among other things, this means that decompositions of Jet's does not work,
+// for example
+//
+// Matrix<Jet<T, N> ... > A, x, b;
+// ...
+// A.solve(b, &x)
+//
+// does not work and will fail with a strange compiler error.
+//
+// TODO(keir): This is an Eigen 2.0 limitation that is lifted in 3.0. When we
+// switch to 3.0, also add the rest of the specialization functionality.
+template<typename T, int N> inline const Jet<T, N>& ei_conj(const Jet<T, N>& x) { return x; } // NOLINT
+template<typename T, int N> inline const Jet<T, N>& ei_real(const Jet<T, N>& x) { return x; } // NOLINT
+template<typename T, int N> inline Jet<T, N> ei_imag(const Jet<T, N>& ) { return Jet<T, N>(0.0); } // NOLINT
+template<typename T, int N> inline Jet<T, N> ei_abs (const Jet<T, N>& x) { return fabs(x); } // NOLINT
+template<typename T, int N> inline Jet<T, N> ei_abs2(const Jet<T, N>& x) { return x * x; } // NOLINT
+template<typename T, int N> inline Jet<T, N> ei_sqrt(const Jet<T, N>& x) { return sqrt(x); } // NOLINT
+template<typename T, int N> inline Jet<T, N> ei_exp (const Jet<T, N>& x) { return exp(x); } // NOLINT
+template<typename T, int N> inline Jet<T, N> ei_log (const Jet<T, N>& x) { return log(x); } // NOLINT
+template<typename T, int N> inline Jet<T, N> ei_sin (const Jet<T, N>& x) { return sin(x); } // NOLINT
+template<typename T, int N> inline Jet<T, N> ei_cos (const Jet<T, N>& x) { return cos(x); } // NOLINT
+template<typename T, int N> inline Jet<T, N> ei_pow (const Jet<T, N>& x, Jet<T, N> y) { return pow(x, y); } // NOLINT
+
+// Note: This has to be in the ceres namespace for argument dependent lookup to
+// function correctly. Otherwise statements like CHECK_LE(x, 2.0) fail with
+// strange compile errors.
+template <typename T, int N>
+inline std::ostream &operator<<(std::ostream &s, const Jet<T, N>& z) {
+ return s << "[" << z.a << " ; " << z.v.transpose() << "]";
+}
+
+} // namespace ceres
+
+namespace Eigen {
+
+// Creating a specialization of NumTraits enables placing Jet objects inside
+// Eigen arrays, getting all the goodness of Eigen combined with autodiff.
+template<typename T, int N>
+struct NumTraits<ceres::Jet<T, N> > {
+ typedef ceres::Jet<T, N> Real;
+ typedef ceres::Jet<T, N> NonInteger;
+ typedef ceres::Jet<T, N> Nested;
+
+ static typename ceres::Jet<T, N> dummy_precision() {
+ return ceres::Jet<T, N>(1e-12);
+ }
+
+ enum {
+ IsComplex = 0,
+ IsInteger = 0,
+ IsSigned,
+ ReadCost = 1,
+ AddCost = 1,
+ // For Jet types, multiplication is more expensive than addition.
+ MulCost = 3,
+ HasFloatingPoint = 1
+ };
+};
+
+} // namespace Eigen
+
+#endif // CERES_PUBLIC_JET_H_
diff --git a/include/ceres/local_parameterization.h b/include/ceres/local_parameterization.h
new file mode 100644
index 0000000..c0f7dc7
--- /dev/null
+++ b/include/ceres/local_parameterization.h
@@ -0,0 +1,189 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+// sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_PUBLIC_LOCAL_PARAMETERIZATION_H_
+#define CERES_PUBLIC_LOCAL_PARAMETERIZATION_H_
+
+#include <vector>
+#include "ceres/internal/port.h"
+
+namespace ceres {
+
+// Purpose: Sometimes parameter blocks x can overparameterize a problem
+//
+// min f(x)
+// x
+//
+// In that case it is desirable to choose a parameterization for the
+// block itself to remove the null directions of the cost. More
+// generally, if x lies on a manifold of a smaller dimension than the
+// ambient space that it is embedded in, then it is numerically and
+// computationally more effective to optimize it using a
+// parameterization that lives in the tangent space of that manifold
+// at each point.
+//
+// For example, a sphere in three dimensions is a 2 dimensional
+// manifold, embedded in a three dimensional space. At each point on
+// the sphere, the plane tangent to it defines a two dimensional
+// tangent space. For a cost function defined on this sphere, given a
+// point x, moving in the direction normal to the sphere at that point
+// is not useful. Thus a better way to do a local optimization is to
+// optimize over two dimensional vector delta in the tangent space at
+// that point and then "move" to the point x + delta, where the move
+// operation involves projecting back onto the sphere. Doing so
+// removes a redundent dimension from the optimization, making it
+// numerically more robust and efficient.
+//
+// More generally we can define a function
+//
+// x_plus_delta = Plus(x, delta),
+//
+// where x_plus_delta has the same size as x, and delta is of size
+// less than or equal to x. The function Plus, generalizes the
+// definition of vector addition. Thus it satisfies the identify
+//
+// Plus(x, 0) = x, for all x.
+//
+// A trivial version of Plus is when delta is of the same size as x
+// and
+//
+// Plus(x, delta) = x + delta
+//
+// A more interesting case if x is two dimensional vector, and the
+// user wishes to hold the first coordinate constant. Then, delta is a
+// scalar and Plus is defined as
+//
+// Plus(x, delta) = x + [0] * delta
+// [1]
+//
+// An example that occurs commonly in Structure from Motion problems
+// is when camera rotations are parameterized using Quaternion. There,
+// it is useful only make updates orthogonal to that 4-vector defining
+// the quaternion. One way to do this is to let delta be a 3
+// dimensional vector and define Plus to be
+//
+// Plus(x, delta) = [cos(|delta|), sin(|delta|) delta / |delta|] * x
+//
+// The multiplication between the two 4-vectors on the RHS is the
+// standard quaternion product.
+//
+// Given g and a point x, optimizing f can now be restated as
+//
+// min f(Plus(x, delta))
+// delta
+//
+// Given a solution delta to this problem, the optimal value is then
+// given by
+//
+// x* = Plus(x, delta)
+//
+// The class LocalParameterization defines the function Plus and its
+// Jacobian which is needed to compute the Jacobian of f w.r.t delta.
+class LocalParameterization {
+ public:
+ virtual ~LocalParameterization() {}
+
+ // Generalization of the addition operation,
+ //
+ // x_plus_delta = Plus(x, delta)
+ //
+ // with the condition that Plus(x, 0) = x.
+ virtual bool Plus(const double* x,
+ const double* delta,
+ double* x_plus_delta) const = 0;
+
+ // The jacobian of Plus(x, delta) w.r.t delta at delta = 0.
+ virtual bool ComputeJacobian(const double* x, double* jacobian) const = 0;
+
+ // Size of x.
+ virtual int GlobalSize() const = 0;
+
+ // Size of delta.
+ virtual int LocalSize() const = 0;
+};
+
+// Some basic parameterizations
+
+// Identity Parameterization: Plus(x, delta) = x + delta
+class IdentityParameterization : public LocalParameterization {
+ public:
+ explicit IdentityParameterization(int size);
+ virtual ~IdentityParameterization() {}
+ virtual bool Plus(const double* x,
+ const double* delta,
+ double* x_plus_delta) const;
+ virtual bool ComputeJacobian(const double* x,
+ double* jacobian) const;
+ virtual int GlobalSize() const { return size_; }
+ virtual int LocalSize() const { return size_; }
+
+ private:
+ const int size_;
+};
+
+// Hold a subset of the parameters inside a parameter block constant.
+class SubsetParameterization : public LocalParameterization {
+ public:
+ explicit SubsetParameterization(int size,
+ const vector<int>& constant_parameters);
+ virtual ~SubsetParameterization() {}
+ virtual bool Plus(const double* x,
+ const double* delta,
+ double* x_plus_delta) const;
+ virtual bool ComputeJacobian(const double* x,
+ double* jacobian) const;
+ virtual int GlobalSize() const { return constancy_mask_.size(); }
+ virtual int LocalSize() const { return local_size_; }
+
+ private:
+ const int local_size_;
+ vector<int> constancy_mask_;
+};
+
+// Plus(x, delta) = [cos(|delta|), sin(|delta|) delta / |delta|] * x
+// with * being the quaternion multiplication operator. Here we assume
+// that the first element of the quaternion vector is the real (cos
+// theta) part.
+class QuaternionParameterization : public LocalParameterization {
+ public:
+ virtual ~QuaternionParameterization() {}
+ virtual bool Plus(const double* x,
+ const double* delta,
+ double* x_plus_delta) const;
+ virtual bool ComputeJacobian(const double* x,
+ double* jacobian) const;
+ virtual int GlobalSize() const { return 4; }
+ virtual int LocalSize() const { return 3; }
+};
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_LOCAL_PARAMETERIZATION_H_
diff --git a/include/ceres/loss_function.h b/include/ceres/loss_function.h
new file mode 100644
index 0000000..0c0ceaa
--- /dev/null
+++ b/include/ceres/loss_function.h
@@ -0,0 +1,397 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// The LossFunction interface is the way users describe how residuals
+// are converted to cost terms for the overall problem cost function.
+// For the exact manner in which loss functions are converted to the
+// overall cost for a problem, see problem.h.
+//
+// For least squares problem where there are no outliers and standard
+// squared loss is expected, it is not necessary to create a loss
+// function; instead passing a NULL to the problem when adding
+// residuals implies a standard squared loss.
+//
+// For least squares problems where the minimization may encounter
+// input terms that contain outliers, that is, completely bogus
+// measurements, it is important to use a loss function that reduces
+// their associated penalty.
+//
+// Consider a structure from motion problem. The unknowns are 3D
+// points and camera parameters, and the measurements are image
+// coordinates describing the expected reprojected position for a
+// point in a camera. For example, we want to model the geometry of a
+// street scene with fire hydrants and cars, observed by a moving
+// camera with unknown parameters, and the only 3D points we care
+// about are the pointy tippy-tops of the fire hydrants. Our magic
+// image processing algorithm, which is responsible for producing the
+// measurements that are input to Ceres, has found and matched all
+// such tippy-tops in all image frames, except that in one of the
+// frame it mistook a car's headlight for a hydrant. If we didn't do
+// anything special (i.e. if we used a basic quadratic loss), the
+// residual for the erroneous measurement will result in extreme error
+// due to the quadratic nature of squared loss. This results in the
+// entire solution getting pulled away from the optimimum to reduce
+// the large error that would otherwise be attributed to the wrong
+// measurement.
+//
+// Using a robust loss function, the cost for large residuals is
+// reduced. In the example above, this leads to outlier terms getting
+// downweighted so they do not overly influence the final solution.
+//
+// What cost function is best?
+//
+// In general, there isn't a principled way to select a robust loss
+// function. The authors suggest starting with a non-robust cost, then
+// only experimenting with robust loss functions if standard squared
+// loss doesn't work.
+
+#ifndef CERES_PUBLIC_LOSS_FUNCTION_H_
+#define CERES_PUBLIC_LOSS_FUNCTION_H_
+
+#include <glog/logging.h>
+#include "ceres/internal/macros.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+
+namespace ceres {
+
+class LossFunction {
+ public:
+ virtual ~LossFunction() {}
+
+ // For a residual vector with squared 2-norm 'sq_norm', this method
+ // is required to fill in the value and derivatives of the loss
+ // function (rho in this example):
+ //
+ // out[0] = rho(sq_norm),
+ // out[1] = rho'(sq_norm),
+ // out[2] = rho''(sq_norm),
+ //
+ // Here the convention is that the contribution of a term to the
+ // cost function is given by 1/2 rho(s), where
+ //
+ // s = ||residuals||^2.
+ //
+ // Calling the method with a negative value of 's' is an error and
+ // the implementations are not required to handle that case.
+ //
+ // Most sane choices of rho() satisfy:
+ //
+ // rho(0) = 0,
+ // rho'(0) = 1,
+ // rho'(s) < 1 in outlier region,
+ // rho''(s) < 0 in outlier region,
+ //
+ // so that they mimic the least squares cost for small residuals.
+ virtual void Evaluate(double sq_norm, double out[3]) const = 0;
+};
+
+// Some common implementations follow below.
+//
+// Note: in the region of interest (i.e. s < 3) we have:
+// TrivialLoss >= HuberLoss >= SoftLOneLoss >= CauchyLoss
+
+
+// This corresponds to no robustification.
+//
+// rho(s) = s
+//
+// At s = 0: rho = [0, 1, 0].
+//
+// It is not normally necessary to use this, as passing NULL for the
+// loss function when building the problem accomplishes the same
+// thing.
+class TrivialLoss : public LossFunction {
+ public:
+ virtual void Evaluate(double, double*) const;
+};
+
+// Scaling
+// -------
+// Given one robustifier
+// s -> rho(s)
+// one can change the length scale at which robustification takes
+// place, by adding a scale factor 'a' as follows:
+//
+// s -> a^2 rho(s / a^2).
+//
+// The first and second derivatives are:
+//
+// s -> rho'(s / a^2),
+// s -> (1 / a^2) rho''(s / a^2),
+//
+// but the behaviour near s = 0 is the same as the original function,
+// i.e.
+//
+// rho(s) = s + higher order terms,
+// a^2 rho(s / a^2) = s + higher order terms.
+//
+// The scalar 'a' should be positive.
+//
+// The reason for the appearance of squaring is that 'a' is in the
+// units of the residual vector norm whereas 's' is a squared
+// norm. For applications it is more convenient to specify 'a' than
+// its square. The commonly used robustifiers below are described in
+// un-scaled format (a = 1) but their implementations work for any
+// non-zero value of 'a'.
+
+// Huber.
+//
+// rho(s) = s for s <= 1,
+// rho(s) = 2 sqrt(s) - 1 for s >= 1.
+//
+// At s = 0: rho = [0, 1, 0].
+//
+// The scaling parameter 'a' corresponds to 'delta' on this page:
+// http://en.wikipedia.org/wiki/Huber_Loss_Function
+class HuberLoss : public LossFunction {
+ public:
+ explicit HuberLoss(double a) : a_(a), b_(a * a) { }
+ virtual void Evaluate(double, double*) const;
+
+ private:
+ const double a_;
+ // b = a^2.
+ const double b_;
+};
+
+// Soft L1, similar to Huber but smooth.
+//
+// rho(s) = 2 (sqrt(1 + s) - 1).
+//
+// At s = 0: rho = [0, 1, -1/2].
+class SoftLOneLoss : public LossFunction {
+ public:
+ explicit SoftLOneLoss(double a) : b_(a * a), c_(1 / b_) { }
+ virtual void Evaluate(double, double*) const;
+
+ private:
+ // b = a^2.
+ const double b_;
+ // c = 1 / a^2.
+ const double c_;
+};
+
+// Inspired by the Cauchy distribution
+//
+// rho(s) = log(1 + s).
+//
+// At s = 0: rho = [0, 1, -1].
+class CauchyLoss : public LossFunction {
+ public:
+ explicit CauchyLoss(double a) : b_(a * a), c_(1 / b_) { }
+ virtual void Evaluate(double, double*) const;
+
+ private:
+ // b = a^2.
+ const double b_;
+ // c = 1 / a^2.
+ const double c_;
+};
+
+// Loss that is capped beyond a certain level using the arc-tangent function.
+// The scaling parameter 'a' determines the level where falloff occurs.
+// For costs much smaller than 'a', the loss function is linear and behaves like
+// TrivialLoss, and for values much larger than 'a' the value asymptotically
+// approaches the constant value of a * PI / 2.
+//
+// rho(s) = a atan(s / a).
+//
+// At s = 0: rho = [0, 1, 0].
+class ArctanLoss : public LossFunction {
+ public:
+ explicit ArctanLoss(double a) : a_(a), b_(1 / (a * a)) { }
+ virtual void Evaluate(double, double*) const;
+
+ private:
+ const double a_;
+ // b = 1 / a^2.
+ const double b_;
+};
+
+// Loss function that maps to approximately zero cost in a range around the
+// origin, and reverts to linear in error (quadratic in cost) beyond this range.
+// The tolerance parameter 'a' sets the nominal point at which the
+// transition occurs, and the transition size parameter 'b' sets the nominal
+// distance over which most of the transition occurs. Both a and b must be
+// greater than zero, and typically b will be set to a fraction of a.
+// The slope rho'[s] varies smoothly from about 0 at s <= a - b to
+// about 1 at s >= a + b.
+//
+// The term is computed as:
+//
+// rho(s) = b log(1 + exp((s - a) / b)) - c0.
+//
+// where c0 is chosen so that rho(0) == 0
+//
+// c0 = b log(1 + exp(-a / b)
+//
+// This has the following useful properties:
+//
+// rho(s) == 0 for s = 0
+// rho'(s) ~= 0 for s << a - b
+// rho'(s) ~= 1 for s >> a + b
+// rho''(s) > 0 for all s
+//
+// In addition, all derivatives are continuous, and the curvature is
+// concentrated in the range a - b to a + b.
+//
+// At s = 0: rho = [0, ~0, ~0].
+class TolerantLoss : public LossFunction {
+ public:
+ explicit TolerantLoss(double a, double b);
+ virtual void Evaluate(double, double*) const;
+
+ private:
+ const double a_, b_, c_;
+};
+
+// Composition of two loss functions. The error is the result of first
+// evaluating g followed by f to yield the composition f(g(s)).
+// The loss functions must not be NULL.
+class ComposedLoss : public LossFunction {
+ public:
+ explicit ComposedLoss(const LossFunction* f, Ownership ownership_f,
+ const LossFunction* g, Ownership ownership_g);
+ virtual ~ComposedLoss();
+ virtual void Evaluate(double, double*) const;
+
+ private:
+ internal::scoped_ptr<const LossFunction> f_, g_;
+ const Ownership ownership_f_, ownership_g_;
+};
+
+// The discussion above has to do with length scaling: it affects the space
+// in which s is measured. Sometimes you want to simply scale the output
+// value of the robustifier. For example, you might want to weight
+// different error terms differently (e.g., weight pixel reprojection
+// errors differently from terrain errors).
+//
+// If rho is the wrapped robustifier, then this simply outputs
+// s -> a * rho(s)
+//
+// The first and second derivatives are, not surprisingly
+// s -> a * rho'(s)
+// s -> a * rho''(s)
+//
+// Since we treat the a NULL Loss function as the Identity loss
+// function, rho = NULL is a valid input and will result in the input
+// being scaled by a. This provides a simple way of implementing a
+// scaled ResidualBlock.
+class ScaledLoss : public LossFunction {
+ public:
+ // Constructs a ScaledLoss wrapping another loss function. Takes
+ // ownership of the wrapped loss function or not depending on the
+ // ownership parameter.
+ ScaledLoss(const LossFunction* rho, double a, Ownership ownership) :
+ rho_(rho), a_(a), ownership_(ownership) { }
+
+ virtual ~ScaledLoss() {
+ if (ownership_ == DO_NOT_TAKE_OWNERSHIP) {
+ rho_.release();
+ }
+ }
+ virtual void Evaluate(double, double*) const;
+
+ private:
+ internal::scoped_ptr<const LossFunction> rho_;
+ const double a_;
+ const Ownership ownership_;
+ CERES_DISALLOW_COPY_AND_ASSIGN(ScaledLoss);
+};
+
+// Sometimes after the optimization problem has been constructed, we
+// wish to mutate the scale of the loss function. For example, when
+// performing estimation from data which has substantial outliers,
+// convergence can be improved by starting out with a large scale,
+// optimizing the problem and then reducing the scale. This can have
+// better convergence behaviour than just using a loss function with a
+// small scale.
+//
+// This templated class allows the user to implement a loss function
+// whose scale can be mutated after an optimization problem has been
+// constructed.
+//
+// Example usage
+//
+// Problem problem;
+//
+// // Add parameter blocks
+//
+// CostFunction* cost_function =
+// new AutoDiffCostFunction < UW_Camera_Mapper, 2, 9, 3>(
+// new UW_Camera_Mapper(data->observations[2*i + 0],
+// data->observations[2*i + 1]));
+//
+// LossFunctionWrapper* loss_function(new HuberLoss(1.0), TAKE_OWNERSHIP);
+//
+// problem.AddResidualBlock(cost_function, loss_function, parameters);
+//
+// Solver::Options options;
+// scoped_ptr<Solver::Summary> summary1(Solve(problem, options));
+//
+// loss_function->Reset(new HuberLoss(1.0), TAKE_OWNERSHIP);
+//
+// scoped_ptr<Solver::Summary> summary2(Solve(problem, options));
+//
+class LossFunctionWrapper : public LossFunction {
+ public:
+ LossFunctionWrapper(LossFunction* rho, Ownership ownership)
+ : rho_(rho), ownership_(ownership) {
+ }
+
+ virtual ~LossFunctionWrapper() {
+ if (ownership_ == DO_NOT_TAKE_OWNERSHIP) {
+ rho_.release();
+ }
+ }
+
+ virtual void Evaluate(double sq_norm, double out[3]) const {
+ CHECK_NOTNULL(rho_.get());
+ rho_->Evaluate(sq_norm, out);
+ }
+
+ void Reset(LossFunction* rho, Ownership ownership) {
+ if (ownership_ == DO_NOT_TAKE_OWNERSHIP) {
+ rho_.release();
+ }
+ rho_.reset(rho);
+ ownership_ = ownership;
+ }
+
+ private:
+ internal::scoped_ptr<const LossFunction> rho_;
+ Ownership ownership_;
+ CERES_DISALLOW_COPY_AND_ASSIGN(LossFunctionWrapper);
+};
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_LOSS_FUNCTION_H_
diff --git a/include/ceres/normal_prior.h b/include/ceres/normal_prior.h
new file mode 100644
index 0000000..480a074
--- /dev/null
+++ b/include/ceres/normal_prior.h
@@ -0,0 +1,75 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Cost term that implements a prior on a parameter block using a
+// normal distribution.
+
+#ifndef CERES_PUBLIC_NORMAL_PRIOR_H_
+#define CERES_PUBLIC_NORMAL_PRIOR_H_
+
+#include "ceres/cost_function.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+
+// Implements a cost function of the form
+//
+// cost(x) = ||A(x - b)||^2
+//
+// where, the matrix A and the vector b are fixed and x is the
+// variable. In case the user is interested in implementing a cost
+// function of the form
+//
+// cost(x) = (x - mu)^T S^{-1} (x - mu)
+//
+// where, mu is a vector and S is a covariance matrix, then, A =
+// S^{-1/2}, i.e the matrix A is the square root of the inverse of the
+// covariance, also known as the stiffness matrix. There are however
+// no restrictions on the shape of A. It is free to be rectangular,
+// which would be the case if the covariance matrix S is rank
+// deficient.
+
+class NormalPrior: public CostFunction {
+ public:
+ // Check that the number of rows in the vector b are the same as the
+ // number of columns in the matrix A, crash otherwise.
+ NormalPrior(const Matrix& A, const Vector& b);
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const;
+ private:
+ Matrix A_;
+ Vector b_;
+};
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_NORMAL_PRIOR_H_
diff --git a/include/ceres/numeric_diff_cost_function.h b/include/ceres/numeric_diff_cost_function.h
new file mode 100644
index 0000000..8544e44
--- /dev/null
+++ b/include/ceres/numeric_diff_cost_function.h
@@ -0,0 +1,285 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// Create CostFunctions as needed by the least squares framework with jacobians
+// computed via numeric (a.k.a. finite) differentiation. For more details see
+// http://en.wikipedia.org/wiki/Numerical_differentiation.
+//
+// To get a numerically differentiated cost function, define a subclass of
+// CostFunction such that the Evaluate() function ignores the jacobian
+// parameter. The numeric differentiation wrapper will fill in the jacobian
+// parameter if nececssary by repeatedly calling the Evaluate() function with
+// small changes to the appropriate parameters, and computing the slope. For
+// performance, the numeric differentiation wrapper class is templated on the
+// concrete cost function, even though it could be implemented only in terms of
+// the virtual CostFunction interface.
+//
+// The numerically differentiated version of a cost function for a cost function
+// can be constructed as follows:
+//
+// CostFunction* cost_function
+// = new NumericDiffCostFunction<MyCostFunction, CENTRAL, 1, 4, 8>(
+// new MyCostFunction(...), TAKE_OWNERSHIP);
+//
+// where MyCostFunction has 1 residual and 2 parameter blocks with sizes 4 and 8
+// respectively. Look at the tests for a more detailed example.
+//
+// The central difference method is considerably more accurate at the cost of
+// twice as many function evaluations than forward difference. Consider using
+// central differences begin with, and only after that works, trying forward
+// difference to improve performance.
+//
+// TODO(keir): Characterize accuracy; mention pitfalls; provide alternatives.
+
+#ifndef CERES_PUBLIC_NUMERIC_DIFF_COST_FUNCTION_H_
+#define CERES_PUBLIC_NUMERIC_DIFF_COST_FUNCTION_H_
+
+#include <cstring>
+#include <glog/logging.h>
+#include "Eigen/Dense"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/sized_cost_function.h"
+#include "ceres/types.h"
+
+namespace ceres {
+
+enum NumericDiffMethod {
+ CENTRAL,
+ FORWARD
+};
+
+// This is split from the main class because C++ doesn't allow partial template
+// specializations for member functions. The alternative is to repeat the main
+// class for differing numbers of parameters, which is also unfortunate.
+template <typename CostFunctionNoJacobian,
+ int num_residuals,
+ int parameter_block_size,
+ int parameter_block,
+ NumericDiffMethod method>
+struct Differencer {
+ // Mutates parameters but must restore them before return.
+ static bool EvaluateJacobianForParameterBlock(
+ const CostFunctionNoJacobian *function,
+ double const* residuals_at_eval_point,
+ double **parameters,
+ double **jacobians) {
+ using Eigen::Map;
+ using Eigen::Matrix;
+ using Eigen::RowMajor;
+ using Eigen::ColMajor;
+
+ typedef Matrix<double, num_residuals, 1> ResidualVector;
+ typedef Matrix<double, parameter_block_size, 1> ParameterVector;
+ typedef Matrix<double, num_residuals, parameter_block_size,
+ (parameter_block_size == 1 &&
+ num_residuals > 1) ? ColMajor : RowMajor> JacobianMatrix;
+
+ Map<JacobianMatrix> parameter_jacobian(jacobians[parameter_block],
+ num_residuals,
+ parameter_block_size);
+
+ // Mutate 1 element at a time and then restore.
+ Map<ParameterVector> x_plus_delta(parameters[parameter_block],
+ parameter_block_size);
+ ParameterVector x(x_plus_delta);
+
+ // TODO(keir): Pick a smarter number! In theory a good choice is sqrt(eps) *
+ // x, which for doubles means about 1e-8 * x. However, I have found this
+ // number too optimistic. This number should be exposed for users to change.
+ const double kRelativeStepSize = 1e-6;
+
+ ParameterVector step_size = x.array().abs() * kRelativeStepSize;
+
+ // To handle cases where a parameter is exactly zero, instead use the mean
+ // step_size for the other dimensions.
+ double fallback_step_size = step_size.sum() / step_size.rows();
+ if (fallback_step_size == 0.0) {
+ // If all the parameters are zero, there's no good answer. Take
+ // kRelativeStepSize as a guess and hope for the best.
+ fallback_step_size = kRelativeStepSize;
+ }
+
+ // For each parameter in the parameter block, use finite differences to
+ // compute the derivative for that parameter.
+ for (int j = 0; j < parameter_block_size; ++j) {
+ if (step_size(j) == 0.0) {
+ // The parameter is exactly zero, so compromise and use the mean
+ // step_size from the other parameters. This can break in many cases,
+ // but it's hard to pick a good number without problem specific
+ // knowledge.
+ step_size(j) = fallback_step_size;
+ }
+ x_plus_delta(j) = x(j) + step_size(j);
+
+ double residuals[num_residuals]; // NOLINT
+ if (!function->Evaluate(parameters, residuals, NULL)) {
+ // Something went wrong; bail.
+ return false;
+ }
+
+ // Compute this column of the jacobian in 3 steps:
+ // 1. Store residuals for the forward part.
+ // 2. Subtract residuals for the backward (or 0) part.
+ // 3. Divide out the run.
+ parameter_jacobian.col(j) =
+ Map<const ResidualVector>(residuals, num_residuals);
+
+ double one_over_h = 1 / step_size(j);
+ if (method == CENTRAL) {
+ // Compute the function on the other side of x(j).
+ x_plus_delta(j) = x(j) - step_size(j);
+
+ if (!function->Evaluate(parameters, residuals, NULL)) {
+ // Something went wrong; bail.
+ return false;
+ }
+ parameter_jacobian.col(j) -=
+ Map<ResidualVector>(residuals, num_residuals, 1);
+ one_over_h /= 2;
+ } else {
+ // Forward difference only; reuse existing residuals evaluation.
+ parameter_jacobian.col(j) -=
+ Map<const ResidualVector>(residuals_at_eval_point, num_residuals);
+ }
+ x_plus_delta(j) = x(j); // Restore x_plus_delta.
+
+ // Divide out the run to get slope.
+ parameter_jacobian.col(j) *= one_over_h;
+ }
+ return true;
+ }
+};
+
+// Prevent invalid instantiations.
+template <typename CostFunctionNoJacobian,
+ int num_residuals,
+ int parameter_block,
+ NumericDiffMethod method>
+struct Differencer<CostFunctionNoJacobian,
+ num_residuals,
+ 0 /* parameter_block_size */,
+ parameter_block,
+ method> {
+ static bool EvaluateJacobianForParameterBlock(
+ const CostFunctionNoJacobian *function,
+ double const* residuals_at_eval_point,
+ double **parameters,
+ double **jacobians) {
+ LOG(FATAL) << "Shouldn't get here.";
+ return true;
+ }
+};
+
+template <typename CostFunctionNoJacobian,
+ NumericDiffMethod method = CENTRAL, int M = 0,
+ int N0 = 0, int N1 = 0, int N2 = 0, int N3 = 0, int N4 = 0, int N5 = 0>
+class NumericDiffCostFunction
+ : public SizedCostFunction<M, N0, N1, N2, N3, N4, N5> {
+ public:
+ NumericDiffCostFunction(CostFunctionNoJacobian* function,
+ Ownership ownership)
+ : function_(function), ownership_(ownership) {}
+
+ virtual ~NumericDiffCostFunction() {
+ if (ownership_ != TAKE_OWNERSHIP) {
+ function_.release();
+ }
+ }
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ // Get the function value (residuals) at the the point to evaluate.
+ bool success = function_->Evaluate(parameters, residuals, NULL);
+ if (!success) {
+ // Something went wrong; ignore the jacobian.
+ return false;
+ }
+ if (!jacobians) {
+ // Nothing to do; just forward.
+ return true;
+ }
+
+ // Create a copy of the parameters which will get mutated.
+ const int kParametersSize = N0 + N1 + N2 + N3 + N4 + N5;
+ double parameters_copy[kParametersSize];
+ double *parameters_references_copy[6];
+ parameters_references_copy[0] = ¶meters_copy[0];
+ parameters_references_copy[1] = ¶meters_copy[0] + N0;
+ parameters_references_copy[2] = ¶meters_copy[0] + N0 + N1;
+ parameters_references_copy[3] = ¶meters_copy[0] + N0 + N1 + N2;
+ parameters_references_copy[4] = ¶meters_copy[0] + N0 + N1 + N2 + N3;
+ parameters_references_copy[5] =
+ ¶meters_copy[0] + N0 + N1 + N2 + N3 + N4;
+
+#define COPY_PARAMETER_BLOCK(block) \
+ if (N ## block) memcpy(parameters_references_copy[block], \
+ parameters[block], \
+ sizeof(double) * N ## block); // NOLINT
+ COPY_PARAMETER_BLOCK(0);
+ COPY_PARAMETER_BLOCK(1);
+ COPY_PARAMETER_BLOCK(2);
+ COPY_PARAMETER_BLOCK(3);
+ COPY_PARAMETER_BLOCK(4);
+ COPY_PARAMETER_BLOCK(5);
+#undef COPY_PARAMETER_BLOCK
+
+#define EVALUATE_JACOBIAN_FOR_BLOCK(block) \
+ if (N ## block && jacobians[block]) { \
+ if (!Differencer<CostFunctionNoJacobian, /* NOLINT */ \
+ M, \
+ N ## block, \
+ block, \
+ method>::EvaluateJacobianForParameterBlock( \
+ function_.get(), \
+ residuals, \
+ parameters_references_copy, \
+ jacobians)) { \
+ return false; \
+ } \
+ }
+ EVALUATE_JACOBIAN_FOR_BLOCK(0);
+ EVALUATE_JACOBIAN_FOR_BLOCK(1);
+ EVALUATE_JACOBIAN_FOR_BLOCK(2);
+ EVALUATE_JACOBIAN_FOR_BLOCK(3);
+ EVALUATE_JACOBIAN_FOR_BLOCK(4);
+ EVALUATE_JACOBIAN_FOR_BLOCK(5);
+#undef EVALUATE_JACOBIAN_FOR_BLOCK
+ return true;
+ }
+
+ private:
+ internal::scoped_ptr<CostFunctionNoJacobian> function_;
+ Ownership ownership_;
+};
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_NUMERIC_DIFF_COST_FUNCTION_H_
diff --git a/include/ceres/ordered_groups.h b/include/ceres/ordered_groups.h
new file mode 100644
index 0000000..e373d35
--- /dev/null
+++ b/include/ceres/ordered_groups.h
@@ -0,0 +1,176 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_PUBLIC_ORDERED_GROUPS_H_
+#define CERES_PUBLIC_ORDERED_GROUPS_H_
+
+#include <map>
+#include <set>
+#include "ceres/internal/port.h"
+
+namespace ceres {
+
+// A class for storing and manipulating an ordered collection of
+// groups/sets with the following semantics:
+//
+// Group ids are non-negative integer values. Elements are any type
+// that can serve as a key in a map or an element of a set.
+//
+// An element can only belong to one group at a time. A group may
+// contain an arbitrary number of elements.
+//
+// Groups are ordered by their group id.
+template <typename T>
+class OrderedGroups {
+ public:
+ // Add an element to a group. If a group with this id does not
+ // exist, one is created. This method can be called any number of
+ // times for the same element. Group ids should be non-negative
+ // numbers.
+ //
+ // Return value indicates if adding the element was a success.
+ bool AddElementToGroup(const T element, const int group) {
+ if (group < 0) {
+ return false;
+ }
+
+ typename map<T, int>::const_iterator it = element_to_group_.find(element);
+ if (it != element_to_group_.end()) {
+ if (it->second == group) {
+ // Element is already in the right group, nothing to do.
+ return true;
+ }
+
+ group_to_elements_[it->second].erase(element);
+ if (group_to_elements_[it->second].size() == 0) {
+ group_to_elements_.erase(it->second);
+ }
+ }
+
+ element_to_group_[element] = group;
+ group_to_elements_[group].insert(element);
+ return true;
+ }
+
+ void Clear() {
+ group_to_elements_.clear();
+ element_to_group_.clear();
+ }
+
+ // Remove the element, no matter what group it is in. If the element
+ // is not a member of any group, calling this method will result in
+ // a crash.
+ //
+ // Return value indicates if the element was actually removed.
+ bool Remove(const T element) {
+ const int current_group = GroupId(element);
+ if (current_group < 0) {
+ return false;
+ }
+
+ group_to_elements_[current_group].erase(element);
+
+ if (group_to_elements_[current_group].size() == 0) {
+ // If the group is empty, then get rid of it.
+ group_to_elements_.erase(current_group);
+ }
+
+ element_to_group_.erase(element);
+ return true;
+ }
+
+ // Reverse the order of the groups in place.
+ void Reverse() {
+ typename map<int, set<T> >::reverse_iterator it =
+ group_to_elements_.rbegin();
+ map<int, set<T> > new_group_to_elements;
+ new_group_to_elements[it->first] = it->second;
+
+ int new_group_id = it->first + 1;
+ for (++it; it != group_to_elements_.rend(); ++it) {
+ for (typename set<T>::const_iterator element_it = it->second.begin();
+ element_it != it->second.end();
+ ++element_it) {
+ element_to_group_[*element_it] = new_group_id;
+ }
+ new_group_to_elements[new_group_id] = it->second;
+ new_group_id++;
+ }
+
+ group_to_elements_.swap(new_group_to_elements);
+ }
+
+ // Return the group id for the element. If the element is not a
+ // member of any group, return -1.
+ int GroupId(const T element) const {
+ typename map<T, int>::const_iterator it = element_to_group_.find(element);
+ if (it == element_to_group_.end()) {
+ return -1;
+ }
+ return it->second;
+ }
+
+ bool IsMember(const T element) const {
+ typename map<T, int>::const_iterator it = element_to_group_.find(element);
+ return (it != element_to_group_.end());
+ }
+
+ // This function always succeeds, i.e., implicitly there exists a
+ // group for every integer.
+ int GroupSize(const int group) const {
+ typename map<int, set<T> >::const_iterator it =
+ group_to_elements_.find(group);
+ return (it == group_to_elements_.end()) ? 0 : it->second.size();
+ }
+
+ int NumElements() const {
+ return element_to_group_.size();
+ }
+
+ // Number of groups with one or more elements.
+ int NumGroups() const {
+ return group_to_elements_.size();
+ }
+
+ const map<int, set<T> >& group_to_elements() const {
+ return group_to_elements_;
+ }
+
+ private:
+ map<int, set<T> > group_to_elements_;
+ map<T, int> element_to_group_;
+};
+
+// Typedef for the most commonly used version of OrderedGroups.
+typedef OrderedGroups<double*> ParameterBlockOrdering;
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_ORDERED_GROUP_H_
diff --git a/include/ceres/problem.h b/include/ceres/problem.h
new file mode 100644
index 0000000..201cc7f
--- /dev/null
+++ b/include/ceres/problem.h
@@ -0,0 +1,286 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+// keir@google.com (Keir Mierle)
+//
+// The Problem object is used to build and hold least squares problems.
+
+#ifndef CERES_PUBLIC_PROBLEM_H_
+#define CERES_PUBLIC_PROBLEM_H_
+
+#include <cstddef>
+#include <map>
+#include <set>
+#include <vector>
+
+#include <glog/logging.h>
+#include "ceres/internal/macros.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+
+namespace ceres {
+
+class CostFunction;
+class LossFunction;
+class LocalParameterization;
+class Solver;
+
+namespace internal {
+class Preprocessor;
+class ProblemImpl;
+class ParameterBlock;
+class ResidualBlock;
+} // namespace internal
+
+// A ResidualBlockId is a handle clients can use to delete residual
+// blocks after creating them. They are opaque for any purposes other
+// than that.
+typedef const internal::ResidualBlock* ResidualBlockId;
+
+// A class to represent non-linear least squares problems. Such
+// problems have a cost function that is a sum of error terms (known
+// as "residuals"), where each residual is a function of some subset
+// of the parameters. The cost function takes the form
+//
+// N 1
+// SUM --- loss( || r_i1, r_i2,..., r_ik ||^2 ),
+// i=1 2
+//
+// where
+//
+// r_ij is residual number i, component j; the residual is a
+// function of some subset of the parameters x1...xk. For
+// example, in a structure from motion problem a residual
+// might be the difference between a measured point in an
+// image and the reprojected position for the matching
+// camera, point pair. The residual would have two
+// components, error in x and error in y.
+//
+// loss(y) is the loss function; for example, squared error or
+// Huber L1 loss. If loss(y) = y, then the cost function is
+// non-robustified least squares.
+//
+// This class is specifically designed to address the important subset
+// of "sparse" least squares problems, where each component of the
+// residual depends only on a small number number of parameters, even
+// though the total number of residuals and parameters may be very
+// large. This property affords tremendous gains in scale, allowing
+// efficient solving of large problems that are otherwise
+// inaccessible.
+//
+// The canonical example of a sparse least squares problem is
+// "structure-from-motion" (SFM), where the parameters are points and
+// cameras, and residuals are reprojection errors. Typically a single
+// residual will depend only on 9 parameters (3 for the point, 6 for
+// the camera).
+//
+// To create a least squares problem, use the AddResidualBlock() and
+// AddParameterBlock() methods, documented below. Here is an example least
+// squares problem containing 3 parameter blocks of sizes 3, 4 and 5
+// respectively and two residual terms of size 2 and 6:
+//
+// double x1[] = { 1.0, 2.0, 3.0 };
+// double x2[] = { 1.0, 2.0, 3.0, 5.0 };
+// double x3[] = { 1.0, 2.0, 3.0, 6.0, 7.0 };
+//
+// Problem problem;
+//
+// problem.AddResidualBlock(new MyUnaryCostFunction(...), x1);
+// problem.AddResidualBlock(new MyBinaryCostFunction(...), x2, x3);
+//
+// Please see cost_function.h for details of the CostFunction object.
+class Problem {
+ public:
+ struct Options {
+ Options()
+ : cost_function_ownership(TAKE_OWNERSHIP),
+ loss_function_ownership(TAKE_OWNERSHIP),
+ local_parameterization_ownership(TAKE_OWNERSHIP) {}
+
+ // These flags control whether the Problem object owns the cost
+ // functions, loss functions, and parameterizations passed into
+ // the Problem. If set to TAKE_OWNERSHIP, then the problem object
+ // will delete the corresponding cost or loss functions on
+ // destruction. The destructor is careful to delete the pointers
+ // only once, since sharing cost/loss/parameterizations is
+ // allowed.
+ Ownership cost_function_ownership;
+ Ownership loss_function_ownership;
+ Ownership local_parameterization_ownership;
+ };
+
+ // The default constructor is equivalent to the
+ // invocation Problem(Problem::Options()).
+ Problem();
+ explicit Problem(const Options& options);
+
+ ~Problem();
+
+ // Add a residual block to the overall cost function. The cost
+ // function carries with it information about the sizes of the
+ // parameter blocks it expects. The function checks that these match
+ // the sizes of the parameter blocks listed in parameter_blocks. The
+ // program aborts if a mismatch is detected. loss_function can be
+ // NULL, in which case the cost of the term is just the squared norm
+ // of the residuals.
+ //
+ // The user has the option of explicitly adding the parameter blocks
+ // using AddParameterBlock. This causes additional correctness
+ // checking; however, AddResidualBlock implicitly adds the parameter
+ // blocks if they are not present, so calling AddParameterBlock
+ // explicitly is not required.
+ //
+ // The Problem object by default takes ownership of the
+ // cost_function and loss_function pointers. These objects remain
+ // live for the life of the Problem object. If the user wishes to
+ // keep control over the destruction of these objects, then they can
+ // do this by setting the corresponding enums in the Options struct.
+ //
+ // Note: Even though the Problem takes ownership of cost_function
+ // and loss_function, it does not preclude the user from re-using
+ // them in another residual block. The destructor takes care to call
+ // delete on each cost_function or loss_function pointer only once,
+ // regardless of how many residual blocks refer to them.
+ //
+ // Example usage:
+ //
+ // double x1[] = {1.0, 2.0, 3.0};
+ // double x2[] = {1.0, 2.0, 5.0, 6.0};
+ // double x3[] = {3.0, 6.0, 2.0, 5.0, 1.0};
+ //
+ // Problem problem;
+ //
+ // problem.AddResidualBlock(new MyUnaryCostFunction(...), NULL, x1);
+ // problem.AddResidualBlock(new MyBinaryCostFunction(...), NULL, x2, x1);
+ //
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ const vector<double*>& parameter_blocks);
+
+ // Convenience methods for adding residuals with a small number of
+ // parameters. This is the common case. Instead of specifying the
+ // parameter block arguments as a vector, list them as pointers.
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2,
+ double* x3);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2,
+ double* x3, double* x4);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2,
+ double* x3, double* x4, double* x5);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2,
+ double* x3, double* x4, double* x5,
+ double* x6);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2,
+ double* x3, double* x4, double* x5,
+ double* x6, double* x7);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2,
+ double* x3, double* x4, double* x5,
+ double* x6, double* x7, double* x8);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2,
+ double* x3, double* x4, double* x5,
+ double* x6, double* x7, double* x8,
+ double* x9);
+
+ // Add a parameter block with appropriate size to the problem.
+ // Repeated calls with the same arguments are ignored. Repeated
+ // calls with the same double pointer but a different size results
+ // in undefined behaviour.
+ void AddParameterBlock(double* values, int size);
+
+ // Add a parameter block with appropriate size and parameterization
+ // to the problem. Repeated calls with the same arguments are
+ // ignored. Repeated calls with the same double pointer but a
+ // different size results in undefined behaviour.
+ void AddParameterBlock(double* values,
+ int size,
+ LocalParameterization* local_parameterization);
+
+ // Hold the indicated parameter block constant during optimization.
+ void SetParameterBlockConstant(double* values);
+
+ // Allow the indicated parameter to vary during optimization.
+ void SetParameterBlockVariable(double* values);
+
+ // Set the local parameterization for one of the parameter blocks.
+ // The local_parameterization is owned by the Problem by default. It
+ // is acceptable to set the same parameterization for multiple
+ // parameters; the destructor is careful to delete local
+ // parameterizations only once. The local parameterization can only
+ // be set once per parameter, and cannot be changed once set.
+ void SetParameterization(double* values,
+ LocalParameterization* local_parameterization);
+
+ // Number of parameter blocks in the problem. Always equals
+ // parameter_blocks().size() and parameter_block_sizes().size().
+ int NumParameterBlocks() const;
+
+ // The size of the parameter vector obtained by summing over the
+ // sizes of all the parameter blocks.
+ int NumParameters() const;
+
+ // Number of residual blocks in the problem. Always equals
+ // residual_blocks().size().
+ int NumResidualBlocks() const;
+
+ // The size of the residual vector obtained by summing over the
+ // sizes of all of the residual blocks.
+ int NumResiduals() const;
+
+ private:
+ friend class Solver;
+ internal::scoped_ptr<internal::ProblemImpl> problem_impl_;
+ CERES_DISALLOW_COPY_AND_ASSIGN(Problem);
+};
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_PROBLEM_H_
diff --git a/include/ceres/rotation.h b/include/ceres/rotation.h
new file mode 100644
index 0000000..0d8a390
--- /dev/null
+++ b/include/ceres/rotation.h
@@ -0,0 +1,534 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+// sameeragarwal@google.com (Sameer Agarwal)
+//
+// Templated functions for manipulating rotations. The templated
+// functions are useful when implementing functors for automatic
+// differentiation.
+//
+// In the following, the Quaternions are laid out as 4-vectors, thus:
+//
+// q[0] scalar part.
+// q[1] coefficient of i.
+// q[2] coefficient of j.
+// q[3] coefficient of k.
+//
+// where: i*i = j*j = k*k = -1 and i*j = k, j*k = i, k*i = j.
+
+#ifndef CERES_PUBLIC_ROTATION_H_
+#define CERES_PUBLIC_ROTATION_H_
+
+#include <algorithm>
+#include <cmath>
+#include "glog/logging.h"
+
+namespace ceres {
+
+// Convert a value in combined axis-angle representation to a quaternion.
+// The value angle_axis is a triple whose norm is an angle in radians,
+// and whose direction is aligned with the axis of rotation,
+// and quaternion is a 4-tuple that will contain the resulting quaternion.
+// The implementation may be used with auto-differentiation up to the first
+// derivative, higher derivatives may have unexpected results near the origin.
+template<typename T>
+void AngleAxisToQuaternion(T const* angle_axis, T* quaternion);
+
+// Convert a quaternion to the equivalent combined axis-angle representation.
+// The value quaternion must be a unit quaternion - it is not normalized first,
+// and angle_axis will be filled with a value whose norm is the angle of
+// rotation in radians, and whose direction is the axis of rotation.
+// The implemention may be used with auto-differentiation up to the first
+// derivative, higher derivatives may have unexpected results near the origin.
+template<typename T>
+void QuaternionToAngleAxis(T const* quaternion, T* angle_axis);
+
+// Conversions between 3x3 rotation matrix (in column major order) and
+// axis-angle rotation representations. Templated for use with
+// autodifferentiation.
+template <typename T>
+void RotationMatrixToAngleAxis(T const * R, T * angle_axis);
+template <typename T>
+void AngleAxisToRotationMatrix(T const * angle_axis, T * R);
+
+// Conversions between 3x3 rotation matrix (in row major order) and
+// Euler angle (in degrees) rotation representations.
+//
+// The {pitch,roll,yaw} Euler angles are rotations around the {x,y,z}
+// axes, respectively. They are applied in that same order, so the
+// total rotation R is Rz * Ry * Rx.
+template <typename T>
+void EulerAnglesToRotationMatrix(const T* euler, int row_stride, T* R);
+
+// Convert a 4-vector to a 3x3 scaled rotation matrix.
+//
+// The choice of rotation is such that the quaternion [1 0 0 0] goes to an
+// identity matrix and for small a, b, c the quaternion [1 a b c] goes to
+// the matrix
+//
+// [ 0 -c b ]
+// I + 2 [ c 0 -a ] + higher order terms
+// [ -b a 0 ]
+//
+// which corresponds to a Rodrigues approximation, the last matrix being
+// the cross-product matrix of [a b c]. Together with the property that
+// R(q1 * q2) = R(q1) * R(q2) this uniquely defines the mapping from q to R.
+//
+// The rotation matrix is row-major.
+//
+// No normalization of the quaternion is performed, i.e.
+// R = ||q||^2 * Q, where Q is an orthonormal matrix
+// such that det(Q) = 1 and Q*Q' = I
+template <typename T> inline
+void QuaternionToScaledRotation(const T q[4], T R[3 * 3]);
+
+// Same as above except that the rotation matrix is normalized by the
+// Frobenius norm, so that R * R' = I (and det(R) = 1).
+template <typename T> inline
+void QuaternionToRotation(const T q[4], T R[3 * 3]);
+
+// Rotates a point pt by a quaternion q:
+//
+// result = R(q) * pt
+//
+// Assumes the quaternion is unit norm. This assumption allows us to
+// write the transform as (something)*pt + pt, as is clear from the
+// formula below. If you pass in a quaternion with |q|^2 = 2 then you
+// WILL NOT get back 2 times the result you get for a unit quaternion.
+template <typename T> inline
+void UnitQuaternionRotatePoint(const T q[4], const T pt[3], T result[3]);
+
+// With this function you do not need to assume that q has unit norm.
+// It does assume that the norm is non-zero.
+template <typename T> inline
+void QuaternionRotatePoint(const T q[4], const T pt[3], T result[3]);
+
+// zw = z * w, where * is the Quaternion product between 4 vectors.
+template<typename T> inline
+void QuaternionProduct(const T z[4], const T w[4], T zw[4]);
+
+// xy = x cross y;
+template<typename T> inline
+void CrossProduct(const T x[3], const T y[3], T x_cross_y[3]);
+
+template<typename T> inline
+T DotProduct(const T x[3], const T y[3]);
+
+// y = R(angle_axis) * x;
+template<typename T> inline
+void AngleAxisRotatePoint(const T angle_axis[3], const T pt[3], T result[3]);
+
+// --- IMPLEMENTATION
+
+template<typename T>
+inline void AngleAxisToQuaternion(const T* angle_axis, T* quaternion) {
+ const T& a0 = angle_axis[0];
+ const T& a1 = angle_axis[1];
+ const T& a2 = angle_axis[2];
+ const T theta_squared = a0 * a0 + a1 * a1 + a2 * a2;
+
+ // For points not at the origin, the full conversion is numerically stable.
+ if (theta_squared > T(0.0)) {
+ const T theta = sqrt(theta_squared);
+ const T half_theta = theta * T(0.5);
+ const T k = sin(half_theta) / theta;
+ quaternion[0] = cos(half_theta);
+ quaternion[1] = a0 * k;
+ quaternion[2] = a1 * k;
+ quaternion[3] = a2 * k;
+ } else {
+ // At the origin, sqrt() will produce NaN in the derivative since
+ // the argument is zero. By approximating with a Taylor series,
+ // and truncating at one term, the value and first derivatives will be
+ // computed correctly when Jets are used.
+ const T k(0.5);
+ quaternion[0] = T(1.0);
+ quaternion[1] = a0 * k;
+ quaternion[2] = a1 * k;
+ quaternion[3] = a2 * k;
+ }
+}
+
+template<typename T>
+inline void QuaternionToAngleAxis(const T* quaternion, T* angle_axis) {
+ const T& q1 = quaternion[1];
+ const T& q2 = quaternion[2];
+ const T& q3 = quaternion[3];
+ const T sin_squared_theta = q1 * q1 + q2 * q2 + q3 * q3;
+
+ // For quaternions representing non-zero rotation, the conversion
+ // is numerically stable.
+ if (sin_squared_theta > T(0.0)) {
+ const T sin_theta = sqrt(sin_squared_theta);
+ const T& cos_theta = quaternion[0];
+
+ // If cos_theta is negative, theta is greater than pi/2, which
+ // means that angle for the angle_axis vector which is 2 * theta
+ // would be greater than pi.
+ //
+ // While this will result in the correct rotation, it does not
+ // result in a normalized angle-axis vector.
+ //
+ // In that case we observe that 2 * theta ~ 2 * theta - 2 * pi,
+ // which is equivalent saying
+ //
+ // theta - pi = atan(sin(theta - pi), cos(theta - pi))
+ // = atan(-sin(theta), -cos(theta))
+ //
+ const T two_theta =
+ T(2.0) * ((cos_theta < 0.0)
+ ? atan2(-sin_theta, -cos_theta)
+ : atan2(sin_theta, cos_theta));
+ const T k = two_theta / sin_theta;
+ angle_axis[0] = q1 * k;
+ angle_axis[1] = q2 * k;
+ angle_axis[2] = q3 * k;
+ } else {
+ // For zero rotation, sqrt() will produce NaN in the derivative since
+ // the argument is zero. By approximating with a Taylor series,
+ // and truncating at one term, the value and first derivatives will be
+ // computed correctly when Jets are used.
+ const T k(2.0);
+ angle_axis[0] = q1 * k;
+ angle_axis[1] = q2 * k;
+ angle_axis[2] = q3 * k;
+ }
+}
+
+// The conversion of a rotation matrix to the angle-axis form is
+// numerically problematic when then rotation angle is close to zero
+// or to Pi. The following implementation detects when these two cases
+// occurs and deals with them by taking code paths that are guaranteed
+// to not perform division by a small number.
+template <typename T>
+inline void RotationMatrixToAngleAxis(const T * R, T * angle_axis) {
+ // x = k * 2 * sin(theta), where k is the axis of rotation.
+ angle_axis[0] = R[5] - R[7];
+ angle_axis[1] = R[6] - R[2];
+ angle_axis[2] = R[1] - R[3];
+
+ static const T kOne = T(1.0);
+ static const T kTwo = T(2.0);
+
+ // Since the right hand side may give numbers just above 1.0 or
+ // below -1.0 leading to atan misbehaving, we threshold.
+ T costheta = std::min(std::max((R[0] + R[4] + R[8] - kOne) / kTwo,
+ T(-1.0)),
+ kOne);
+
+ // sqrt is guaranteed to give non-negative results, so we only
+ // threshold above.
+ T sintheta = std::min(sqrt(angle_axis[0] * angle_axis[0] +
+ angle_axis[1] * angle_axis[1] +
+ angle_axis[2] * angle_axis[2]) / kTwo,
+ kOne);
+
+ // Use the arctan2 to get the right sign on theta
+ const T theta = atan2(sintheta, costheta);
+
+ // Case 1: sin(theta) is large enough, so dividing by it is not a
+ // problem. We do not use abs here, because while jets.h imports
+ // std::abs into the namespace, here in this file, abs resolves to
+ // the int version of the function, which returns zero always.
+ //
+ // We use a threshold much larger then the machine epsilon, because
+ // if sin(theta) is small, not only do we risk overflow but even if
+ // that does not occur, just dividing by a small number will result
+ // in numerical garbage. So we play it safe.
+ static const double kThreshold = 1e-12;
+ if ((sintheta > kThreshold) || (sintheta < -kThreshold)) {
+ const T r = theta / (kTwo * sintheta);
+ for (int i = 0; i < 3; ++i) {
+ angle_axis[i] *= r;
+ }
+ return;
+ }
+
+ // Case 2: theta ~ 0, means sin(theta) ~ theta to a good
+ // approximation.
+ if (costheta > 0.0) {
+ const T kHalf = T(0.5);
+ for (int i = 0; i < 3; ++i) {
+ angle_axis[i] *= kHalf;
+ }
+ return;
+ }
+
+ // Case 3: theta ~ pi, this is the hard case. Since theta is large,
+ // and sin(theta) is small. Dividing by theta by sin(theta) will
+ // either give an overflow or worse still numerically meaningless
+ // results. Thus we use an alternate more complicated formula
+ // here.
+
+ // Since cos(theta) is negative, division by (1-cos(theta)) cannot
+ // overflow.
+ const T inv_one_minus_costheta = kOne / (kOne - costheta);
+
+ // We now compute the absolute value of coordinates of the axis
+ // vector using the diagonal entries of R. To resolve the sign of
+ // these entries, we compare the sign of angle_axis[i]*sin(theta)
+ // with the sign of sin(theta). If they are the same, then
+ // angle_axis[i] should be positive, otherwise negative.
+ for (int i = 0; i < 3; ++i) {
+ angle_axis[i] = theta * sqrt((R[i*4] - costheta) * inv_one_minus_costheta);
+ if (((sintheta < 0.0) && (angle_axis[i] > 0.0)) ||
+ ((sintheta > 0.0) && (angle_axis[i] < 0.0))) {
+ angle_axis[i] = -angle_axis[i];
+ }
+ }
+}
+
+template <typename T>
+inline void AngleAxisToRotationMatrix(const T * angle_axis, T * R) {
+ static const T kOne = T(1.0);
+ const T theta2 = DotProduct(angle_axis, angle_axis);
+ if (theta2 > 0.0) {
+ // We want to be careful to only evaluate the square root if the
+ // norm of the angle_axis vector is greater than zero. Otherwise
+ // we get a division by zero.
+ const T theta = sqrt(theta2);
+ const T wx = angle_axis[0] / theta;
+ const T wy = angle_axis[1] / theta;
+ const T wz = angle_axis[2] / theta;
+
+ const T costheta = cos(theta);
+ const T sintheta = sin(theta);
+
+ R[0] = costheta + wx*wx*(kOne - costheta);
+ R[1] = wz*sintheta + wx*wy*(kOne - costheta);
+ R[2] = -wy*sintheta + wx*wz*(kOne - costheta);
+ R[3] = wx*wy*(kOne - costheta) - wz*sintheta;
+ R[4] = costheta + wy*wy*(kOne - costheta);
+ R[5] = wx*sintheta + wy*wz*(kOne - costheta);
+ R[6] = wy*sintheta + wx*wz*(kOne - costheta);
+ R[7] = -wx*sintheta + wy*wz*(kOne - costheta);
+ R[8] = costheta + wz*wz*(kOne - costheta);
+ } else {
+ // At zero, we switch to using the first order Taylor expansion.
+ R[0] = kOne;
+ R[1] = -angle_axis[2];
+ R[2] = angle_axis[1];
+ R[3] = angle_axis[2];
+ R[4] = kOne;
+ R[5] = -angle_axis[0];
+ R[6] = -angle_axis[1];
+ R[7] = angle_axis[0];
+ R[8] = kOne;
+ }
+}
+
+template <typename T>
+inline void EulerAnglesToRotationMatrix(const T* euler,
+ const int row_stride,
+ T* R) {
+ const double kPi = 3.14159265358979323846;
+ const T degrees_to_radians(kPi / 180.0);
+
+ const T pitch(euler[0] * degrees_to_radians);
+ const T roll(euler[1] * degrees_to_radians);
+ const T yaw(euler[2] * degrees_to_radians);
+
+ const T c1 = cos(yaw);
+ const T s1 = sin(yaw);
+ const T c2 = cos(roll);
+ const T s2 = sin(roll);
+ const T c3 = cos(pitch);
+ const T s3 = sin(pitch);
+
+ // Rows of the rotation matrix.
+ T* R1 = R;
+ T* R2 = R1 + row_stride;
+ T* R3 = R2 + row_stride;
+
+ R1[0] = c1*c2;
+ R1[1] = -s1*c3 + c1*s2*s3;
+ R1[2] = s1*s3 + c1*s2*c3;
+
+ R2[0] = s1*c2;
+ R2[1] = c1*c3 + s1*s2*s3;
+ R2[2] = -c1*s3 + s1*s2*c3;
+
+ R3[0] = -s2;
+ R3[1] = c2*s3;
+ R3[2] = c2*c3;
+}
+
+template <typename T> inline
+void QuaternionToScaledRotation(const T q[4], T R[3 * 3]) {
+ // Make convenient names for elements of q.
+ T a = q[0];
+ T b = q[1];
+ T c = q[2];
+ T d = q[3];
+ // This is not to eliminate common sub-expression, but to
+ // make the lines shorter so that they fit in 80 columns!
+ T aa = a * a;
+ T ab = a * b;
+ T ac = a * c;
+ T ad = a * d;
+ T bb = b * b;
+ T bc = b * c;
+ T bd = b * d;
+ T cc = c * c;
+ T cd = c * d;
+ T dd = d * d;
+
+ R[0] = aa + bb - cc - dd; R[1] = T(2) * (bc - ad); R[2] = T(2) * (ac + bd); // NOLINT
+ R[3] = T(2) * (ad + bc); R[4] = aa - bb + cc - dd; R[5] = T(2) * (cd - ab); // NOLINT
+ R[6] = T(2) * (bd - ac); R[7] = T(2) * (ab + cd); R[8] = aa - bb - cc + dd; // NOLINT
+}
+
+template <typename T> inline
+void QuaternionToRotation(const T q[4], T R[3 * 3]) {
+ QuaternionToScaledRotation(q, R);
+
+ T normalizer = q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3];
+ CHECK_NE(normalizer, T(0));
+ normalizer = T(1) / normalizer;
+
+ for (int i = 0; i < 9; ++i) {
+ R[i] *= normalizer;
+ }
+}
+
+template <typename T> inline
+void UnitQuaternionRotatePoint(const T q[4], const T pt[3], T result[3]) {
+ const T t2 = q[0] * q[1];
+ const T t3 = q[0] * q[2];
+ const T t4 = q[0] * q[3];
+ const T t5 = -q[1] * q[1];
+ const T t6 = q[1] * q[2];
+ const T t7 = q[1] * q[3];
+ const T t8 = -q[2] * q[2];
+ const T t9 = q[2] * q[3];
+ const T t1 = -q[3] * q[3];
+ result[0] = T(2) * ((t8 + t1) * pt[0] + (t6 - t4) * pt[1] + (t3 + t7) * pt[2]) + pt[0]; // NOLINT
+ result[1] = T(2) * ((t4 + t6) * pt[0] + (t5 + t1) * pt[1] + (t9 - t2) * pt[2]) + pt[1]; // NOLINT
+ result[2] = T(2) * ((t7 - t3) * pt[0] + (t2 + t9) * pt[1] + (t5 + t8) * pt[2]) + pt[2]; // NOLINT
+}
+
+
+template <typename T> inline
+void QuaternionRotatePoint(const T q[4], const T pt[3], T result[3]) {
+ // 'scale' is 1 / norm(q).
+ const T scale = T(1) / sqrt(q[0] * q[0] +
+ q[1] * q[1] +
+ q[2] * q[2] +
+ q[3] * q[3]);
+
+ // Make unit-norm version of q.
+ const T unit[4] = {
+ scale * q[0],
+ scale * q[1],
+ scale * q[2],
+ scale * q[3],
+ };
+
+ UnitQuaternionRotatePoint(unit, pt, result);
+}
+
+template<typename T> inline
+void QuaternionProduct(const T z[4], const T w[4], T zw[4]) {
+ zw[0] = z[0] * w[0] - z[1] * w[1] - z[2] * w[2] - z[3] * w[3];
+ zw[1] = z[0] * w[1] + z[1] * w[0] + z[2] * w[3] - z[3] * w[2];
+ zw[2] = z[0] * w[2] - z[1] * w[3] + z[2] * w[0] + z[3] * w[1];
+ zw[3] = z[0] * w[3] + z[1] * w[2] - z[2] * w[1] + z[3] * w[0];
+}
+
+// xy = x cross y;
+template<typename T> inline
+void CrossProduct(const T x[3], const T y[3], T x_cross_y[3]) {
+ x_cross_y[0] = x[1] * y[2] - x[2] * y[1];
+ x_cross_y[1] = x[2] * y[0] - x[0] * y[2];
+ x_cross_y[2] = x[0] * y[1] - x[1] * y[0];
+}
+
+template<typename T> inline
+T DotProduct(const T x[3], const T y[3]) {
+ return (x[0] * y[0] + x[1] * y[1] + x[2] * y[2]);
+}
+
+template<typename T> inline
+void AngleAxisRotatePoint(const T angle_axis[3], const T pt[3], T result[3]) {
+ T w[3];
+ T sintheta;
+ T costheta;
+
+ const T theta2 = DotProduct(angle_axis, angle_axis);
+ if (theta2 > 0.0) {
+ // Away from zero, use the rodriguez formula
+ //
+ // result = pt costheta +
+ // (w x pt) * sintheta +
+ // w (w . pt) (1 - costheta)
+ //
+ // We want to be careful to only evaluate the square root if the
+ // norm of the angle_axis vector is greater than zero. Otherwise
+ // we get a division by zero.
+ //
+ const T theta = sqrt(theta2);
+ w[0] = angle_axis[0] / theta;
+ w[1] = angle_axis[1] / theta;
+ w[2] = angle_axis[2] / theta;
+ costheta = cos(theta);
+ sintheta = sin(theta);
+ T w_cross_pt[3];
+ CrossProduct(w, pt, w_cross_pt);
+ T w_dot_pt = DotProduct(w, pt);
+ for (int i = 0; i < 3; ++i) {
+ result[i] = pt[i] * costheta +
+ w_cross_pt[i] * sintheta +
+ w[i] * (T(1.0) - costheta) * w_dot_pt;
+ }
+ } else {
+ // Near zero, the first order Taylor approximation of the rotation
+ // matrix R corresponding to a vector w and angle w is
+ //
+ // R = I + hat(w) * sin(theta)
+ //
+ // But sintheta ~ theta and theta * w = angle_axis, which gives us
+ //
+ // R = I + hat(w)
+ //
+ // and actually performing multiplication with the point pt, gives us
+ // R * pt = pt + w x pt.
+ //
+ // Switching to the Taylor expansion at zero helps avoid all sorts
+ // of numerical nastiness.
+ T w_cross_pt[3];
+ CrossProduct(angle_axis, pt, w_cross_pt);
+ for (int i = 0; i < 3; ++i) {
+ result[i] = pt[i] + w_cross_pt[i];
+ }
+ }
+}
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_ROTATION_H_
diff --git a/include/ceres/sized_cost_function.h b/include/ceres/sized_cost_function.h
new file mode 100644
index 0000000..6bfc1af
--- /dev/null
+++ b/include/ceres/sized_cost_function.h
@@ -0,0 +1,96 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// A convenience class for cost functions which are statically sized.
+// Compared to the dynamically-sized base class, this reduces boilerplate.
+//
+// The kNumResiduals template parameter can be a constant such as 2 or 5, or it
+// can be ceres::DYNAMIC. If kNumResiduals is ceres::DYNAMIC, then subclasses
+// are responsible for calling set_num_residuals() at runtime.
+
+#ifndef CERES_PUBLIC_SIZED_COST_FUNCTION_H_
+#define CERES_PUBLIC_SIZED_COST_FUNCTION_H_
+
+#include <glog/logging.h>
+#include "ceres/types.h"
+#include "ceres/cost_function.h"
+
+namespace ceres {
+
+template<int kNumResiduals,
+ int N0 = 0, int N1 = 0, int N2 = 0, int N3 = 0, int N4 = 0,
+ int N5 = 0, int N6 = 0, int N7 = 0, int N8 = 0, int N9 = 0>
+class SizedCostFunction : public CostFunction {
+ public:
+ SizedCostFunction() {
+ CHECK(kNumResiduals > 0 || kNumResiduals == DYNAMIC)
+ << "Cost functions must have at least one residual block.";
+
+ // This block breaks the 80 column rule to keep it somewhat readable.
+ CHECK((!N1 && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
+ ((N1 > 0) && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
+ ((N1 > 0) && (N2 > 0) && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && !N5 && !N6 && !N7 && !N8 && !N9) ||
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && !N6 && !N7 && !N8 && !N9) ||
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && !N7 && !N8 && !N9) ||
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && !N8 && !N9) ||
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && !N9) ||
+ ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && (N9 > 0)))
+ << "Zero block cannot precede a non-zero block. Block sizes are "
+ << "(ignore trailing 0s): " << N0 << ", " << N1 << ", " << N2 << ", "
+ << N3 << ", " << N4 << ", " << N5 << ", " << N6 << ", " << N7 << ", "
+ << N8 << ", " << N9;
+
+ set_num_residuals(kNumResiduals);
+
+#define ADD_PARAMETER_BLOCK(N) \
+ if (N) mutable_parameter_block_sizes()->push_back(N);
+ ADD_PARAMETER_BLOCK(N0);
+ ADD_PARAMETER_BLOCK(N1);
+ ADD_PARAMETER_BLOCK(N2);
+ ADD_PARAMETER_BLOCK(N3);
+ ADD_PARAMETER_BLOCK(N4);
+ ADD_PARAMETER_BLOCK(N5);
+ ADD_PARAMETER_BLOCK(N6);
+ ADD_PARAMETER_BLOCK(N7);
+ ADD_PARAMETER_BLOCK(N8);
+ ADD_PARAMETER_BLOCK(N9);
+#undef ADD_PARAMETER_BLOCK
+ }
+
+ virtual ~SizedCostFunction() { }
+
+ // Subclasses must implement Evaluate().
+};
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_SIZED_COST_FUNCTION_H_
diff --git a/include/ceres/solver.h b/include/ceres/solver.h
new file mode 100644
index 0000000..62fb087
--- /dev/null
+++ b/include/ceres/solver.h
@@ -0,0 +1,654 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_PUBLIC_SOLVER_H_
+#define CERES_PUBLIC_SOLVER_H_
+
+#include <cmath>
+#include <string>
+#include <vector>
+#include "ceres/crs_matrix.h"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/port.h"
+#include "ceres/iteration_callback.h"
+#include "ceres/ordered_groups.h"
+#include "ceres/types.h"
+
+namespace ceres {
+
+class Problem;
+
+// Interface for non-linear least squares solvers.
+class Solver {
+ public:
+ virtual ~Solver();
+
+ // The options structure contains, not surprisingly, options that control how
+ // the solver operates. The defaults should be suitable for a wide range of
+ // problems; however, better performance is often obtainable with tweaking.
+ //
+ // The constants are defined inside types.h
+ struct Options {
+ // Default constructor that sets up a generic sparse problem.
+ Options() {
+ trust_region_strategy_type = LEVENBERG_MARQUARDT;
+ dogleg_type = TRADITIONAL_DOGLEG;
+ use_nonmonotonic_steps = false;
+ max_consecutive_nonmonotonic_steps = 5;
+ max_num_iterations = 50;
+ max_solver_time_in_seconds = 1e9;
+ num_threads = 1;
+ initial_trust_region_radius = 1e4;
+ max_trust_region_radius = 1e16;
+ min_trust_region_radius = 1e-32;
+ min_relative_decrease = 1e-3;
+ lm_min_diagonal = 1e-6;
+ lm_max_diagonal = 1e32;
+ max_num_consecutive_invalid_steps = 5;
+ function_tolerance = 1e-6;
+ gradient_tolerance = 1e-10;
+ parameter_tolerance = 1e-8;
+
+#if defined(CERES_NO_SUITESPARSE) && defined(CERES_NO_CXSPARSE)
+ linear_solver_type = DENSE_QR;
+#else
+ linear_solver_type = SPARSE_NORMAL_CHOLESKY;
+#endif
+
+ preconditioner_type = JACOBI;
+
+ sparse_linear_algebra_library = SUITE_SPARSE;
+#if defined(CERES_NO_SUITESPARSE) && !defined(CERES_NO_CXSPARSE)
+ sparse_linear_algebra_library = CX_SPARSE;
+#endif
+
+ num_linear_solver_threads = 1;
+
+#if defined(CERES_NO_SUITESPARSE)
+ use_block_amd = false;
+#else
+ use_block_amd = true;
+#endif
+ linear_solver_ordering = NULL;
+ use_inner_iterations = false;
+ inner_iteration_ordering = NULL;
+ linear_solver_min_num_iterations = 1;
+ linear_solver_max_num_iterations = 500;
+ eta = 1e-1;
+ jacobi_scaling = true;
+ logging_type = PER_MINIMIZER_ITERATION;
+ minimizer_progress_to_stdout = false;
+ return_initial_residuals = false;
+ return_initial_gradient = false;
+ return_initial_jacobian = false;
+ return_final_residuals = false;
+ return_final_gradient = false;
+ return_final_jacobian = false;
+ lsqp_dump_directory = "/tmp";
+ lsqp_dump_format_type = TEXTFILE;
+ check_gradients = false;
+ gradient_check_relative_precision = 1e-8;
+ numeric_derivative_relative_step_size = 1e-6;
+ update_state_every_iteration = false;
+ }
+
+ ~Options();
+ // Minimizer options ----------------------------------------
+
+ TrustRegionStrategyType trust_region_strategy_type;
+
+ // Type of dogleg strategy to use.
+ DoglegType dogleg_type;
+
+ // The classical trust region methods are descent methods, in that
+ // they only accept a point if it strictly reduces the value of
+ // the objective function.
+ //
+ // Relaxing this requirement allows the algorithm to be more
+ // efficient in the long term at the cost of some local increase
+ // in the value of the objective function.
+ //
+ // This is because allowing for non-decreasing objective function
+ // values in a princpled manner allows the algorithm to "jump over
+ // boulders" as the method is not restricted to move into narrow
+ // valleys while preserving its convergence properties.
+ //
+ // Setting use_nonmonotonic_steps to true enables the
+ // non-monotonic trust region algorithm as described by Conn,
+ // Gould & Toint in "Trust Region Methods", Section 10.1.
+ //
+ // The parameter max_consecutive_nonmonotonic_steps controls the
+ // window size used by the step selection algorithm to accept
+ // non-monotonic steps.
+ //
+ // Even though the value of the objective function may be larger
+ // than the minimum value encountered over the course of the
+ // optimization, the final parameters returned to the user are the
+ // ones corresponding to the minimum cost over all iterations.
+ bool use_nonmonotonic_steps;
+ int max_consecutive_nonmonotonic_steps;
+
+ // Maximum number of iterations for the minimizer to run for.
+ int max_num_iterations;
+
+ // Maximum time for which the minimizer should run for.
+ double max_solver_time_in_seconds;
+
+ // Number of threads used by Ceres for evaluating the cost and
+ // jacobians.
+ int num_threads;
+
+ // Trust region minimizer settings.
+ double initial_trust_region_radius;
+ double max_trust_region_radius;
+
+ // Minimizer terminates when the trust region radius becomes
+ // smaller than this value.
+ double min_trust_region_radius;
+
+ // Lower bound for the relative decrease before a step is
+ // accepted.
+ double min_relative_decrease;
+
+ // For the Levenberg-Marquadt algorithm, the scaled diagonal of
+ // the normal equations J'J is used to control the size of the
+ // trust region. Extremely small and large values along the
+ // diagonal can make this regularization scheme
+ // fail. lm_max_diagonal and lm_min_diagonal, clamp the values of
+ // diag(J'J) from above and below. In the normal course of
+ // operation, the user should not have to modify these parameters.
+ double lm_min_diagonal;
+ double lm_max_diagonal;
+
+ // Sometimes due to numerical conditioning problems or linear
+ // solver flakiness, the trust region strategy may return a
+ // numerically invalid step that can be fixed by reducing the
+ // trust region size. So the TrustRegionMinimizer allows for a few
+ // successive invalid steps before it declares NUMERICAL_FAILURE.
+ int max_num_consecutive_invalid_steps;
+
+ // Minimizer terminates when
+ //
+ // (new_cost - old_cost) < function_tolerance * old_cost;
+ //
+ double function_tolerance;
+
+ // Minimizer terminates when
+ //
+ // max_i |gradient_i| < gradient_tolerance * max_i|initial_gradient_i|
+ //
+ // This value should typically be 1e-4 * function_tolerance.
+ double gradient_tolerance;
+
+ // Minimizer terminates when
+ //
+ // |step|_2 <= parameter_tolerance * ( |x|_2 + parameter_tolerance)
+ //
+ double parameter_tolerance;
+
+ // Linear least squares solver options -------------------------------------
+
+ LinearSolverType linear_solver_type;
+
+ // Type of preconditioner to use with the iterative linear solvers.
+ PreconditionerType preconditioner_type;
+
+ // Ceres supports using multiple sparse linear algebra libraries
+ // for sparse matrix ordering and factorizations. Currently,
+ // SUITE_SPARSE and CX_SPARSE are the valid choices, depending on
+ // whether they are linked into Ceres at build time.
+ SparseLinearAlgebraLibraryType sparse_linear_algebra_library;
+
+ // Number of threads used by Ceres to solve the Newton
+ // step. Currently only the SPARSE_SCHUR solver is capable of
+ // using this setting.
+ int num_linear_solver_threads;
+
+ // The order in which variables are eliminated in a linear solver
+ // can have a significant of impact on the efficiency and accuracy
+ // of the method. e.g., when doing sparse Cholesky factorization,
+ // there are matrices for which a good ordering will give a
+ // Cholesky factor with O(n) storage, where as a bad ordering will
+ // result in an completely dense factor.
+ //
+ // Ceres allows the user to provide varying amounts of hints to
+ // the solver about the variable elimination ordering to use. This
+ // can range from no hints, where the solver is free to decide the
+ // best possible ordering based on the user's choices like the
+ // linear solver being used, to an exact order in which the
+ // variables should be eliminated, and a variety of possibilities
+ // in between.
+ //
+ // Instances of the ParameterBlockOrdering class are used to
+ // communicate this information to Ceres.
+ //
+ // Formally an ordering is an ordered partitioning of the
+ // parameter blocks, i.e, each parameter block belongs to exactly
+ // one group, and each group has a unique non-negative integer
+ // associated with it, that determines its order in the set of
+ // groups.
+ //
+ // Given such an ordering, Ceres ensures that the parameter blocks in
+ // the lowest numbered group are eliminated first, and then the
+ // parmeter blocks in the next lowest numbered group and so on. Within
+ // each group, Ceres is free to order the parameter blocks as it
+ // chooses.
+ //
+ // If NULL, then all parameter blocks are assumed to be in the
+ // same group and the solver is free to decide the best
+ // ordering.
+ //
+ // e.g. Consider the linear system
+ //
+ // x + y = 3
+ // 2x + 3y = 7
+ //
+ // There are two ways in which it can be solved. First eliminating x
+ // from the two equations, solving for y and then back substituting
+ // for x, or first eliminating y, solving for x and back substituting
+ // for y. The user can construct three orderings here.
+ //
+ // {0: x}, {1: y} - eliminate x first.
+ // {0: y}, {1: x} - eliminate y first.
+ // {0: x, y} - Solver gets to decide the elimination order.
+ //
+ // Thus, to have Ceres determine the ordering automatically using
+ // heuristics, put all the variables in group 0 and to control the
+ // ordering for every variable, create groups 0..N-1, one per
+ // variable, in the desired order.
+ //
+ // Bundle Adjustment
+ // -----------------
+ //
+ // A particular case of interest is bundle adjustment, where the user
+ // has two options. The default is to not specify an ordering at all,
+ // the solver will see that the user wants to use a Schur type solver
+ // and figure out the right elimination ordering.
+ //
+ // But if the user already knows what parameter blocks are points and
+ // what are cameras, they can save preprocessing time by partitioning
+ // the parameter blocks into two groups, one for the points and one
+ // for the cameras, where the group containing the points has an id
+ // smaller than the group containing cameras.
+ //
+ // Once assigned, Solver::Options owns this pointer and will
+ // deallocate the memory when destroyed.
+ ParameterBlockOrdering* linear_solver_ordering;
+
+ // By virtue of the modeling layer in Ceres being block oriented,
+ // all the matrices used by Ceres are also block oriented. When
+ // doing sparse direct factorization of these matrices (for
+ // SPARSE_NORMAL_CHOLESKY, SPARSE_SCHUR and ITERATIVE in
+ // conjunction with CLUSTER_TRIDIAGONAL AND CLUSTER_JACOBI
+ // preconditioners), the fill-reducing ordering algorithms can
+ // either be run on the block or the scalar form of these matrices.
+ // Running it on the block form exposes more of the super-nodal
+ // structure of the matrix to the factorization routines. Setting
+ // this parameter to true runs the ordering algorithms in block
+ // form. Currently this option only makes sense with
+ // sparse_linear_algebra_library = SUITE_SPARSE.
+ bool use_block_amd;
+
+ // Some non-linear least squares problems have additional
+ // structure in the way the parameter blocks interact that it is
+ // beneficial to modify the way the trust region step is computed.
+ //
+ // e.g., consider the following regression problem
+ //
+ // y = a_1 exp(b_1 x) + a_2 exp(b_3 x^2 + c_1)
+ //
+ // Given a set of pairs{(x_i, y_i)}, the user wishes to estimate
+ // a_1, a_2, b_1, b_2, and c_1.
+ //
+ // Notice here that the expression on the left is linear in a_1
+ // and a_2, and given any value for b_1, b_2 and c_1, it is
+ // possible to use linear regression to estimate the optimal
+ // values of a_1 and a_2. Indeed, its possible to analytically
+ // eliminate the variables a_1 and a_2 from the problem all
+ // together. Problems like these are known as separable least
+ // squares problem and the most famous algorithm for solving them
+ // is the Variable Projection algorithm invented by Golub &
+ // Pereyra.
+ //
+ // Similar structure can be found in the matrix factorization with
+ // missing data problem. There the corresponding algorithm is
+ // known as Wiberg's algorithm.
+ //
+ // Ruhe & Wedin (Algorithms for Separable Nonlinear Least Squares
+ // Problems, SIAM Reviews, 22(3), 1980) present an analyis of
+ // various algorithms for solving separable non-linear least
+ // squares problems and refer to "Variable Projection" as
+ // Algorithm I in their paper.
+ //
+ // Implementing Variable Projection is tedious and expensive, and
+ // they present a simpler algorithm, which they refer to as
+ // Algorithm II, where once the Newton/Trust Region step has been
+ // computed for the whole problem (a_1, a_2, b_1, b_2, c_1) and
+ // additional optimization step is performed to estimate a_1 and
+ // a_2 exactly.
+ //
+ // This idea can be generalized to cases where the residual is not
+ // linear in a_1 and a_2, i.e., Solve for the trust region step
+ // for the full problem, and then use it as the starting point to
+ // further optimize just a_1 and a_2. For the linear case, this
+ // amounts to doing a single linear least squares solve. For
+ // non-linear problems, any method for solving the a_1 and a_2
+ // optimization problems will do. The only constraint on a_1 and
+ // a_2 is that they do not co-occur in any residual block.
+ //
+ // This idea can be further generalized, by not just optimizing
+ // (a_1, a_2), but decomposing the graph corresponding to the
+ // Hessian matrix's sparsity structure in a collection of
+ // non-overlapping independent sets and optimizing each of them.
+ //
+ // Setting "use_inner_iterations" to true enables the use of this
+ // non-linear generalization of Ruhe & Wedin's Algorithm II. This
+ // version of Ceres has a higher iteration complexity, but also
+ // displays better convergence behaviour per iteration. Setting
+ // Solver::Options::num_threads to the maximum number possible is
+ // highly recommended.
+ bool use_inner_iterations;
+
+ // If inner_iterations is true, then the user has two choices.
+ //
+ // 1. Let the solver heuristically decide which parameter blocks
+ // to optimize in each inner iteration. To do this leave
+ // Solver::Options::inner_iteration_ordering untouched.
+ //
+ // 2. Specify a collection of of ordered independent sets. Where
+ // the lower numbered groups are optimized before the higher
+ // number groups. Each group must be an independent set.
+ ParameterBlockOrdering* inner_iteration_ordering;
+
+ // Minimum number of iterations for which the linear solver should
+ // run, even if the convergence criterion is satisfied.
+ int linear_solver_min_num_iterations;
+
+ // Maximum number of iterations for which the linear solver should
+ // run. If the solver does not converge in less than
+ // linear_solver_max_num_iterations, then it returns
+ // MAX_ITERATIONS, as its termination type.
+ int linear_solver_max_num_iterations;
+
+ // Forcing sequence parameter. The truncated Newton solver uses
+ // this number to control the relative accuracy with which the
+ // Newton step is computed.
+ //
+ // This constant is passed to ConjugateGradientsSolver which uses
+ // it to terminate the iterations when
+ //
+ // (Q_i - Q_{i-1})/Q_i < eta/i
+ double eta;
+
+ // Normalize the jacobian using Jacobi scaling before calling
+ // the linear least squares solver.
+ bool jacobi_scaling;
+
+ // Logging options ---------------------------------------------------------
+
+ LoggingType logging_type;
+
+ // By default the Minimizer progress is logged to VLOG(1), which
+ // is sent to STDERR depending on the vlog level. If this flag is
+ // set to true, and logging_type is not SILENT, the logging output
+ // is sent to STDOUT.
+ bool minimizer_progress_to_stdout;
+
+ bool return_initial_residuals;
+ bool return_initial_gradient;
+ bool return_initial_jacobian;
+
+ bool return_final_residuals;
+ bool return_final_gradient;
+ bool return_final_jacobian;
+
+ // List of iterations at which the optimizer should dump the
+ // linear least squares problem to disk. Useful for testing and
+ // benchmarking. If empty (default), no problems are dumped.
+ //
+ // This is ignored if protocol buffers are disabled.
+ vector<int> lsqp_iterations_to_dump;
+ string lsqp_dump_directory;
+ DumpFormatType lsqp_dump_format_type;
+
+ // Finite differences options ----------------------------------------------
+
+ // Check all jacobians computed by each residual block with finite
+ // differences. This is expensive since it involves computing the
+ // derivative by normal means (e.g. user specified, autodiff,
+ // etc), then also computing it using finite differences. The
+ // results are compared, and if they differ substantially, details
+ // are printed to the log.
+ bool check_gradients;
+
+ // Relative precision to check for in the gradient checker. If the
+ // relative difference between an element in a jacobian exceeds
+ // this number, then the jacobian for that cost term is dumped.
+ double gradient_check_relative_precision;
+
+ // Relative shift used for taking numeric derivatives. For finite
+ // differencing, each dimension is evaluated at slightly shifted
+ // values; for the case of central difference, this is what gets
+ // evaluated:
+ //
+ // delta = numeric_derivative_relative_step_size;
+ // f_initial = f(x)
+ // f_forward = f((1 + delta) * x)
+ // f_backward = f((1 - delta) * x)
+ //
+ // The finite differencing is done along each dimension. The
+ // reason to use a relative (rather than absolute) step size is
+ // that this way, numeric differentation works for functions where
+ // the arguments are typically large (e.g. 1e9) and when the
+ // values are small (e.g. 1e-5). It is possible to construct
+ // "torture cases" which break this finite difference heuristic,
+ // but they do not come up often in practice.
+ //
+ // TODO(keir): Pick a smarter number than the default above! In
+ // theory a good choice is sqrt(eps) * x, which for doubles means
+ // about 1e-8 * x. However, I have found this number too
+ // optimistic. This number should be exposed for users to change.
+ double numeric_derivative_relative_step_size;
+
+ // If true, the user's parameter blocks are updated at the end of
+ // every Minimizer iteration, otherwise they are updated when the
+ // Minimizer terminates. This is useful if, for example, the user
+ // wishes to visualize the state of the optimization every
+ // iteration.
+ bool update_state_every_iteration;
+
+ // Callbacks that are executed at the end of each iteration of the
+ // Minimizer. An iteration may terminate midway, either due to
+ // numerical failures or because one of the convergence tests has
+ // been satisfied. In this case none of the callbacks are
+ // executed.
+
+ // Callbacks are executed in the order that they are specified in
+ // this vector. By default, parameter blocks are updated only at
+ // the end of the optimization, i.e when the Minimizer
+ // terminates. This behaviour is controlled by
+ // update_state_every_variable. If the user wishes to have access
+ // to the update parameter blocks when his/her callbacks are
+ // executed, then set update_state_every_iteration to true.
+ //
+ // The solver does NOT take ownership of these pointers.
+ vector<IterationCallback*> callbacks;
+
+ // If non-empty, a summary of the execution of the solver is
+ // recorded to this file.
+ string solver_log;
+ };
+
+ struct Summary {
+ Summary();
+
+ // A brief one line description of the state of the solver after
+ // termination.
+ string BriefReport() const;
+
+ // A full multiline description of the state of the solver after
+ // termination.
+ string FullReport() const;
+
+ // Minimizer summary -------------------------------------------------
+ SolverTerminationType termination_type;
+
+ // If the solver did not run, or there was a failure, a
+ // description of the error.
+ string error;
+
+ // Cost of the problem before and after the optimization. See
+ // problem.h for definition of the cost of a problem.
+ double initial_cost;
+ double final_cost;
+
+ // The part of the total cost that comes from residual blocks that
+ // were held fixed by the preprocessor because all the parameter
+ // blocks that they depend on were fixed.
+ double fixed_cost;
+
+ // Vectors of residuals before and after the optimization. The
+ // entries of these vectors are in the order in which
+ // ResidualBlocks were added to the Problem object.
+ //
+ // Whether the residual vectors are populated with values is
+ // controlled by Solver::Options::return_initial_residuals and
+ // Solver::Options::return_final_residuals respectively.
+ vector<double> initial_residuals;
+ vector<double> final_residuals;
+
+ // Gradient vectors, before and after the optimization. The rows
+ // are in the same order in which the ParameterBlocks were added
+ // to the Problem object.
+ //
+ // NOTE: Since AddResidualBlock adds ParameterBlocks to the
+ // Problem automatically if they do not already exist, if you wish
+ // to have explicit control over the ordering of the vectors, then
+ // use Problem::AddParameterBlock to explicitly add the
+ // ParameterBlocks in the order desired.
+ //
+ // Whether the vectors are populated with values is controlled by
+ // Solver::Options::return_initial_gradient and
+ // Solver::Options::return_final_gradient respectively.
+ vector<double> initial_gradient;
+ vector<double> final_gradient;
+
+ // Jacobian matrices before and after the optimization. The rows
+ // of these matrices are in the same order in which the
+ // ResidualBlocks were added to the Problem object. The columns
+ // are in the same order in which the ParameterBlocks were added
+ // to the Problem object.
+ //
+ // NOTE: Since AddResidualBlock adds ParameterBlocks to the
+ // Problem automatically if they do not already exist, if you wish
+ // to have explicit control over the column ordering of the
+ // matrix, then use Problem::AddParameterBlock to explicitly add
+ // the ParameterBlocks in the order desired.
+ //
+ // The Jacobian matrices are stored as compressed row sparse
+ // matrices. Please see ceres/crs_matrix.h for more details of the
+ // format.
+ //
+ // Whether the Jacboan matrices are populated with values is
+ // controlled by Solver::Options::return_initial_jacobian and
+ // Solver::Options::return_final_jacobian respectively.
+ CRSMatrix initial_jacobian;
+ CRSMatrix final_jacobian;
+
+ vector<IterationSummary> iterations;
+
+ int num_successful_steps;
+ int num_unsuccessful_steps;
+
+ // When the user calls Solve, before the actual optimization
+ // occurs, Ceres performs a number of preprocessing steps. These
+ // include error checks, memory allocations, and reorderings. This
+ // time is accounted for as preprocessing time.
+ double preprocessor_time_in_seconds;
+
+ // Time spent in the TrustRegionMinimizer.
+ double minimizer_time_in_seconds;
+
+ // After the Minimizer is finished, some time is spent in
+ // re-evaluating residuals etc. This time is accounted for in the
+ // postprocessor time.
+ double postprocessor_time_in_seconds;
+
+ // Some total of all time spent inside Ceres when Solve is called.
+ double total_time_in_seconds;
+
+ // Preprocessor summary.
+ int num_parameter_blocks;
+ int num_parameters;
+ int num_residual_blocks;
+ int num_residuals;
+
+ int num_parameter_blocks_reduced;
+ int num_parameters_reduced;
+ int num_residual_blocks_reduced;
+ int num_residuals_reduced;
+
+ int num_eliminate_blocks_given;
+ int num_eliminate_blocks_used;
+
+ int num_threads_given;
+ int num_threads_used;
+
+ int num_linear_solver_threads_given;
+ int num_linear_solver_threads_used;
+
+ LinearSolverType linear_solver_type_given;
+ LinearSolverType linear_solver_type_used;
+
+ PreconditionerType preconditioner_type;
+
+ TrustRegionStrategyType trust_region_strategy_type;
+ DoglegType dogleg_type;
+ SparseLinearAlgebraLibraryType sparse_linear_algebra_library;
+ };
+
+ // Once a least squares problem has been built, this function takes
+ // the problem and optimizes it based on the values of the options
+ // parameters. Upon return, a detailed summary of the work performed
+ // by the preprocessor, the non-linear minmizer and the linear
+ // solver are reported in the summary object.
+ virtual void Solve(const Options& options,
+ Problem* problem,
+ Solver::Summary* summary);
+};
+
+// Helper function which avoids going through the interface.
+void Solve(const Solver::Options& options,
+ Problem* problem,
+ Solver::Summary* summary);
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_SOLVER_H_
diff --git a/include/ceres/types.h b/include/ceres/types.h
new file mode 100644
index 0000000..888e9b0
--- /dev/null
+++ b/include/ceres/types.h
@@ -0,0 +1,320 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Enums and other top level class definitions.
+//
+// Note: internal/types.cc defines stringification routines for some
+// of these enums. Please update those routines if you extend or
+// remove enums from here.
+
+#ifndef CERES_PUBLIC_TYPES_H_
+#define CERES_PUBLIC_TYPES_H_
+
+#include "ceres/internal/port.h"
+
+namespace ceres {
+
+// Basic integer types. These typedefs are in the Ceres namespace to avoid
+// conflicts with other packages having similar typedefs.
+typedef short int16;
+typedef int int32;
+
+// Argument type used in interfaces that can optionally take ownership
+// of a passed in argument. If TAKE_OWNERSHIP is passed, the called
+// object takes ownership of the pointer argument, and will call
+// delete on it upon completion.
+enum Ownership {
+ DO_NOT_TAKE_OWNERSHIP,
+ TAKE_OWNERSHIP
+};
+
+// TODO(keir): Considerably expand the explanations of each solver type.
+enum LinearSolverType {
+ // These solvers are for general rectangular systems formed from the
+ // normal equations A'A x = A'b. They are direct solvers and do not
+ // assume any special problem structure.
+
+ // Solve the normal equations using a dense Cholesky solver; based
+ // on Eigen.
+ DENSE_NORMAL_CHOLESKY,
+
+ // Solve the normal equations using a dense QR solver; based on
+ // Eigen.
+ DENSE_QR,
+
+ // Solve the normal equations using a sparse cholesky solver; requires
+ // SuiteSparse or CXSparse.
+ SPARSE_NORMAL_CHOLESKY,
+
+ // Specialized solvers, specific to problems with a generalized
+ // bi-partitite structure.
+
+ // Solves the reduced linear system using a dense Cholesky solver;
+ // based on Eigen.
+ DENSE_SCHUR,
+
+ // Solves the reduced linear system using a sparse Cholesky solver;
+ // based on CHOLMOD.
+ SPARSE_SCHUR,
+
+ // Solves the reduced linear system using Conjugate Gradients, based
+ // on a new Ceres implementation. Suitable for large scale
+ // problems.
+ ITERATIVE_SCHUR,
+
+ // Conjugate gradients on the normal equations.
+ CGNR
+};
+
+enum PreconditionerType {
+ // Trivial preconditioner - the identity matrix.
+ IDENTITY,
+
+ // Block diagonal of the Gauss-Newton Hessian.
+ JACOBI,
+
+ // Block diagonal of the Schur complement. This preconditioner may
+ // only be used with the ITERATIVE_SCHUR solver. Requires
+ // SuiteSparse/CHOLMOD.
+ SCHUR_JACOBI,
+
+ // Visibility clustering based preconditioners.
+ //
+ // These preconditioners are well suited for Structure from Motion
+ // problems, particularly problems arising from community photo
+ // collections. These preconditioners use the visibility structure
+ // of the scene to determine the sparsity structure of the
+ // preconditioner. Requires SuiteSparse/CHOLMOD.
+ CLUSTER_JACOBI,
+ CLUSTER_TRIDIAGONAL
+};
+
+enum SparseLinearAlgebraLibraryType {
+ // High performance sparse Cholesky factorization and approximate
+ // minimum degree ordering.
+ SUITE_SPARSE,
+
+ // A lightweight replacment for SuiteSparse.
+ CX_SPARSE
+};
+
+enum LinearSolverTerminationType {
+ // Termination criterion was met. For factorization based solvers
+ // the tolerance is assumed to be zero. Any user provided values are
+ // ignored.
+ TOLERANCE,
+
+ // Solver ran for max_num_iterations and terminated before the
+ // termination tolerance could be satified.
+ MAX_ITERATIONS,
+
+ // Solver is stuck and further iterations will not result in any
+ // measurable progress.
+ STAGNATION,
+
+ // Solver failed. Solver was terminated due to numerical errors. The
+ // exact cause of failure depends on the particular solver being
+ // used.
+ FAILURE
+};
+
+// Logging options
+// The options get progressively noisier.
+enum LoggingType {
+ SILENT,
+ PER_MINIMIZER_ITERATION
+};
+
+// Ceres supports different strategies for computing the trust region
+// step.
+enum TrustRegionStrategyType {
+ // The default trust region strategy is to use the step computation
+ // used in the Levenberg-Marquardt algorithm. For more details see
+ // levenberg_marquardt_strategy.h
+ LEVENBERG_MARQUARDT,
+
+ // Powell's dogleg algorithm interpolates between the Cauchy point
+ // and the Gauss-Newton step. It is particularly useful if the
+ // LEVENBERG_MARQUARDT algorithm is making a large number of
+ // unsuccessful steps. For more details see dogleg_strategy.h.
+ //
+ // NOTES:
+ //
+ // 1. This strategy has not been experimented with or tested as
+ // extensively as LEVENBERG_MARQUARDT, and therefore it should be
+ // considered EXPERIMENTAL for now.
+ //
+ // 2. For now this strategy should only be used with exact
+ // factorization based linear solvers, i.e., SPARSE_SCHUR,
+ // DENSE_SCHUR, DENSE_QR and SPARSE_NORMAL_CHOLESKY.
+ DOGLEG
+};
+
+// Ceres supports two different dogleg strategies.
+// The "traditional" dogleg method by Powell and the
+// "subspace" method described in
+// R. H. Byrd, R. B. Schnabel, and G. A. Shultz,
+// "Approximate solution of the trust region problem by minimization
+// over two-dimensional subspaces", Mathematical Programming,
+// 40 (1988), pp. 247--263
+enum DoglegType {
+ // The traditional approach constructs a dogleg path
+ // consisting of two line segments and finds the furthest
+ // point on that path that is still inside the trust region.
+ TRADITIONAL_DOGLEG,
+
+ // The subspace approach finds the exact minimum of the model
+ // constrained to the subspace spanned by the dogleg path.
+ SUBSPACE_DOGLEG
+};
+
+enum SolverTerminationType {
+ // The minimizer did not run at all; usually due to errors in the user's
+ // Problem or the solver options.
+ DID_NOT_RUN,
+
+ // The solver ran for maximum number of iterations specified by the
+ // user, but none of the convergence criterion specified by the user
+ // were met.
+ NO_CONVERGENCE,
+
+ // Minimizer terminated because
+ // (new_cost - old_cost) < function_tolerance * old_cost;
+ FUNCTION_TOLERANCE,
+
+ // Minimizer terminated because
+ // max_i |gradient_i| < gradient_tolerance * max_i|initial_gradient_i|
+ GRADIENT_TOLERANCE,
+
+ // Minimized terminated because
+ // |step|_2 <= parameter_tolerance * ( |x|_2 + parameter_tolerance)
+ PARAMETER_TOLERANCE,
+
+ // The minimizer terminated because it encountered a numerical error
+ // that it could not recover from.
+ NUMERICAL_FAILURE,
+
+ // Using an IterationCallback object, user code can control the
+ // minimizer. The following enums indicate that the user code was
+ // responsible for termination.
+
+ // User's IterationCallback returned SOLVER_ABORT.
+ USER_ABORT,
+
+ // User's IterationCallback returned SOLVER_TERMINATE_SUCCESSFULLY
+ USER_SUCCESS
+};
+
+// Enums used by the IterationCallback instances to indicate to the
+// solver whether it should continue solving, the user detected an
+// error or the solution is good enough and the solver should
+// terminate.
+enum CallbackReturnType {
+ // Continue solving to next iteration.
+ SOLVER_CONTINUE,
+
+ // Terminate solver, and do not update the parameter blocks upon
+ // return. Unless the user has set
+ // Solver:Options:::update_state_every_iteration, in which case the
+ // state would have been updated every iteration
+ // anyways. Solver::Summary::termination_type is set to USER_ABORT.
+ SOLVER_ABORT,
+
+ // Terminate solver, update state and
+ // return. Solver::Summary::termination_type is set to USER_SUCCESS.
+ SOLVER_TERMINATE_SUCCESSFULLY
+};
+
+// The format in which linear least squares problems should be logged
+// when Solver::Options::lsqp_iterations_to_dump is non-empty.
+enum DumpFormatType {
+ // Print the linear least squares problem in a human readable format
+ // to stderr. The Jacobian is printed as a dense matrix. The vectors
+ // D, x and f are printed as dense vectors. This should only be used
+ // for small problems.
+ CONSOLE,
+
+ // Write out the linear least squares problem to the directory
+ // pointed to by Solver::Options::lsqp_dump_directory as a protocol
+ // buffer. linear_least_squares_problems.h/cc contains routines for
+ // loading these problems. For details on the on disk format used,
+ // see matrix.proto. The files are named lm_iteration_???.lsqp.
+ PROTOBUF,
+
+ // Write out the linear least squares problem to the directory
+ // pointed to by Solver::Options::lsqp_dump_directory as text files
+ // which can be read into MATLAB/Octave. The Jacobian is dumped as a
+ // text file containing (i,j,s) triplets, the vectors D, x and f are
+ // dumped as text files containing a list of their values.
+ //
+ // A MATLAB/octave script called lm_iteration_???.m is also output,
+ // which can be used to parse and load the problem into memory.
+ TEXTFILE
+};
+
+// For SizedCostFunction and AutoDiffCostFunction, DYNAMIC can be specified for
+// the number of residuals. If specified, then the number of residuas for that
+// cost function can vary at runtime.
+enum DimensionType {
+ DYNAMIC = -1
+};
+
+const char* LinearSolverTypeToString(LinearSolverType type);
+bool StringToLinearSolverType(string value, LinearSolverType* type);
+
+const char* PreconditionerTypeToString(PreconditionerType type);
+bool StringToPreconditionerType(string value, PreconditionerType* type);
+
+const char* SparseLinearAlgebraLibraryTypeToString(
+ SparseLinearAlgebraLibraryType type);
+bool StringToSparseLinearAlgebraLibraryType(
+ string value,
+ SparseLinearAlgebraLibraryType* type);
+
+const char* TrustRegionStrategyTypeToString(TrustRegionStrategyType type);
+bool StringToTrustRegionStrategyType(string value,
+ TrustRegionStrategyType* type);
+
+const char* DoglegTypeToString(DoglegType type);
+bool StringToDoglegType(string value, DoglegType* type);
+
+const char* LinearSolverTerminationTypeToString(
+ LinearSolverTerminationType type);
+
+const char* SolverTerminationTypeToString(SolverTerminationType type);
+
+bool IsSchurType(LinearSolverType type);
+bool IsSparseLinearAlgebraLibraryTypeAvailable(
+ SparseLinearAlgebraLibraryType type);
+
+
+} // namespace ceres
+
+#endif // CERES_PUBLIC_TYPES_H_
diff --git a/internal/ceres/CMakeLists.txt b/internal/ceres/CMakeLists.txt
new file mode 100644
index 0000000..adad6dc
--- /dev/null
+++ b/internal/ceres/CMakeLists.txt
@@ -0,0 +1,264 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+# http://code.google.com/p/ceres-solver/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+# used to endorse or promote products derived from this software without
+# specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: keir@google.com (Keir Mierle)
+
+SET(CERES_INTERNAL_SRC
+ array_utils.cc
+ block_evaluate_preparer.cc
+ block_jacobi_preconditioner.cc
+ block_jacobian_writer.cc
+ block_random_access_dense_matrix.cc
+ block_random_access_matrix.cc
+ block_random_access_sparse_matrix.cc
+ block_sparse_matrix.cc
+ block_structure.cc
+ canonical_views_clustering.cc
+ cgnr_solver.cc
+ compressed_row_jacobian_writer.cc
+ compressed_row_sparse_matrix.cc
+ conditioned_cost_function.cc
+ conjugate_gradients_solver.cc
+ coordinate_descent_minimizer.cc
+ corrector.cc
+ cxsparse.cc
+ dense_normal_cholesky_solver.cc
+ dense_qr_solver.cc
+ dense_sparse_matrix.cc
+ detect_structure.cc
+ dogleg_strategy.cc
+ evaluator.cc
+ file.cc
+ gradient_checking_cost_function.cc
+ implicit_schur_complement.cc
+ iterative_schur_complement_solver.cc
+ levenberg_marquardt_strategy.cc
+ linear_least_squares_problems.cc
+ linear_operator.cc
+ linear_solver.cc
+ local_parameterization.cc
+ loss_function.cc
+ normal_prior.cc
+ parameter_block_ordering.cc
+ partitioned_matrix_view.cc
+ polynomial_solver.cc
+ problem.cc
+ problem_impl.cc
+ program.cc
+ residual_block.cc
+ residual_block_utils.cc
+ runtime_numeric_diff_cost_function.cc
+ schur_complement_solver.cc
+ schur_eliminator.cc
+ scratch_evaluate_preparer.cc
+ solver.cc
+ solver_impl.cc
+ sparse_matrix.cc
+ sparse_normal_cholesky_solver.cc
+ split.cc
+ stringprintf.cc
+ suitesparse.cc
+ triplet_sparse_matrix.cc
+ trust_region_minimizer.cc
+ trust_region_strategy.cc
+ types.cc
+ visibility.cc
+ visibility_based_preconditioner.cc
+ wall_time.cc
+)
+
+If (${PROTOBUF_FOUND})
+ PROTOBUF_GENERATE_CPP(PROTO_SRCS PROTO_HDRS matrix.proto)
+ENDIF (${PROTOBUF_FOUND})
+
+# Also depend on the header files so that they appear in IDEs.
+FILE(GLOB CERES_INTERNAL_HDRS *.h)
+
+# Include the specialized schur solvers.
+IF (${SCHUR_SPECIALIZATIONS})
+ FILE(GLOB CERES_INTERNAL_SCHUR_FILES generated/*.cc)
+ELSE (${SCHUR_SPECIALIZATIONS})
+ # Only the fully dynamic solver. The build is much faster this way.
+ FILE(GLOB CERES_INTERNAL_SCHUR_FILES generated/schur_eliminator_d_d_d.cc)
+ENDIF (${SCHUR_SPECIALIZATIONS})
+
+# For Android, use the internal Glog implementation.
+IF (${BUILD_ANDROID})
+ ADD_LIBRARY(miniglog STATIC
+ miniglog/glog/logging.cc)
+
+ # The Android logging library that defines e.g. __android_log_print is
+ # creatively named "log".
+ TARGET_LINK_LIBRARIES(miniglog log)
+
+ INSTALL(TARGETS miniglog
+ RUNTIME DESTINATION bin
+ LIBRARY DESTINATION lib
+ ARCHIVE DESTINATION lib)
+ENDIF (${BUILD_ANDROID})
+
+SET(CERES_LIBRARY_DEPENDENCIES ${GLOG_LIB})
+
+IF (${GFLAGS})
+ LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${GFLAGS_LIB})
+ENDIF (${GFLAGS})
+
+IF (${SUITESPARSE_FOUND})
+ LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${CHOLMOD_LIB})
+ LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${CCOLAMD_LIB})
+ LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${CAMD_LIB})
+ LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${COLAMD_LIB})
+ LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${AMD_LIB})
+ IF (EXISTS ${SUITESPARSE_CONFIG_LIB})
+ LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${SUITESPARSE_CONFIG_LIB})
+ ENDIF (EXISTS ${SUITESPARSE_CONFIG_LIB})
+
+ IF (EXISTS ${METIS_LIB})
+ LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${METIS_LIB})
+ ENDIF (EXISTS ${METIS_LIB})
+
+ LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${LAPACK_LIB})
+
+ IF (EXISTS ${BLAS_LIB})
+ LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${BLAS_LIB})
+ ENDIF (EXISTS ${BLAS_LIB})
+ENDIF (${SUITESPARSE_FOUND})
+
+IF (${CXSPARSE_FOUND})
+ LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${CXSPARSE_LIB})
+ENDIF (${CXSPARSE_FOUND})
+
+IF (${OPENMP_FOUND})
+ IF (NOT MSVC)
+ LIST(APPEND CERES_LIBRARY_DEPENDENCIES gomp)
+ ENDIF (NOT MSVC)
+ENDIF (${OPENMP_FOUND})
+
+IF (${PROTOBUF_FOUND})
+ LIST(APPEND CERES_LIBRARY_DEPENDENCIES ${PROTOBUF_LIBRARY})
+ENDIF (${PROTOBUF_FOUND})
+
+SET(CERES_LIBRARY_SOURCE
+ ${PROTO_SRCS}
+ ${PROTO_HDRS}
+ ${CERES_INTERNAL_SRC}
+ ${CERES_INTERNAL_HDRS}
+ ${CERES_INTERNAL_SCHUR_FILES})
+
+ADD_LIBRARY(ceres STATIC ${CERES_LIBRARY_SOURCE})
+TARGET_LINK_LIBRARIES(ceres ${CERES_LIBRARY_DEPENDENCIES})
+
+INSTALL(TARGETS ceres
+ RUNTIME DESTINATION bin
+ LIBRARY DESTINATION lib
+ ARCHIVE DESTINATION lib)
+
+# Don't build a DLL on MSVC. Supporting Ceres as a DLL on Windows involves
+# nontrivial changes that we haven't made yet.
+IF (NOT MSVC AND NOT ${BUILD_ANDROID})
+ ADD_LIBRARY(ceres_shared SHARED ${CERES_LIBRARY_SOURCE})
+ TARGET_LINK_LIBRARIES(ceres_shared ${CERES_LIBRARY_DEPENDENCIES})
+ SET_TARGET_PROPERTIES(ceres_shared PROPERTIES
+ VERSION ${CERES_VERSION}
+ SOVERSION ${CERES_ABI_VERSION})
+
+ INSTALL(TARGETS ceres_shared
+ RUNTIME DESTINATION bin
+ LIBRARY DESTINATION lib
+ ARCHIVE DESTINATION lib)
+
+ENDIF (NOT MSVC AND NOT ${BUILD_ANDROID})
+
+IF (${BUILD_TESTING} AND ${GFLAGS})
+ ADD_LIBRARY(gtest gmock_gtest_all.cc gmock_main.cc)
+ ADD_LIBRARY(test_util test_util.cc)
+ TARGET_LINK_LIBRARIES(gtest ${GFLAGS_LIB} ${GLOG_LIB})
+
+ MACRO (CERES_TEST NAME)
+ ADD_EXECUTABLE(${NAME}_test ${NAME}_test.cc)
+ TARGET_LINK_LIBRARIES(${NAME}_test test_util ceres gtest)
+ ADD_TEST(NAME ${NAME}_test
+ COMMAND ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/${NAME}_test
+ --test_srcdir
+ ${CMAKE_SOURCE_DIR}/data)
+ ENDMACRO (CERES_TEST)
+
+ CERES_TEST(array_utils)
+ CERES_TEST(autodiff)
+ CERES_TEST(autodiff_cost_function)
+ CERES_TEST(block_random_access_dense_matrix)
+ CERES_TEST(block_random_access_sparse_matrix)
+ CERES_TEST(block_sparse_matrix)
+ CERES_TEST(canonical_views_clustering)
+ CERES_TEST(compressed_row_sparse_matrix)
+ CERES_TEST(conditioned_cost_function)
+ CERES_TEST(corrector)
+ CERES_TEST(dense_sparse_matrix)
+ CERES_TEST(evaluator)
+ CERES_TEST(gradient_checker)
+ CERES_TEST(gradient_checking_cost_function)
+ CERES_TEST(graph)
+ CERES_TEST(graph_algorithms)
+ CERES_TEST(implicit_schur_complement)
+ CERES_TEST(iterative_schur_complement_solver)
+ CERES_TEST(jet)
+ CERES_TEST(levenberg_marquardt_strategy)
+ CERES_TEST(dogleg_strategy)
+ CERES_TEST(local_parameterization)
+ CERES_TEST(loss_function)
+ CERES_TEST(minimizer)
+ CERES_TEST(normal_prior)
+ CERES_TEST(numeric_diff_cost_function)
+ CERES_TEST(ordered_groups)
+ CERES_TEST(parameter_block)
+ CERES_TEST(parameter_block_ordering)
+ CERES_TEST(partitioned_matrix_view)
+ CERES_TEST(polynomial_solver)
+ CERES_TEST(problem)
+ CERES_TEST(residual_block)
+ CERES_TEST(residual_block_utils)
+ CERES_TEST(rotation)
+ CERES_TEST(runtime_numeric_diff_cost_function)
+ CERES_TEST(schur_complement_solver)
+ CERES_TEST(schur_eliminator)
+ CERES_TEST(solver_impl)
+
+ IF (${SUITESPARSE_FOUND})
+ CERES_TEST(suitesparse)
+ ENDIF (${SUITESPARSE_FOUND})
+
+ CERES_TEST(symmetric_linear_solver)
+ CERES_TEST(triplet_sparse_matrix)
+ CERES_TEST(trust_region_minimizer)
+ CERES_TEST(unsymmetric_linear_solver)
+ CERES_TEST(visibility)
+ CERES_TEST(visibility_based_preconditioner)
+
+ # Put the large end to end test last.
+ CERES_TEST(system)
+ENDIF (${BUILD_TESTING} AND ${GFLAGS})
diff --git a/internal/ceres/array_utils.cc b/internal/ceres/array_utils.cc
new file mode 100644
index 0000000..673baa4
--- /dev/null
+++ b/internal/ceres/array_utils.cc
@@ -0,0 +1,67 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/array_utils.h"
+
+#include <cmath>
+#include <cstddef>
+#include "ceres/fpclassify.h"
+
+namespace ceres {
+namespace internal {
+
+// It is a near impossibility that user code generates this exact
+// value in normal operation, thus we will use it to fill arrays
+// before passing them to user code. If on return an element of the
+// array still contains this value, we will assume that the user code
+// did not write to that memory location.
+const double kImpossibleValue = 1e302;
+
+bool IsArrayValid(const int size, const double* x) {
+ if (x != NULL) {
+ for (int i = 0; i < size; ++i) {
+ if (!IsFinite(x[i]) || (x[i] == kImpossibleValue)) {
+ return false;
+ }
+ }
+ }
+ return true;
+}
+
+void InvalidateArray(const int size, double* x) {
+ if (x != NULL) {
+ for (int i = 0; i < size; ++i) {
+ x[i] = kImpossibleValue;
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/array_utils.h b/internal/ceres/array_utils.h
new file mode 100644
index 0000000..99cc8d8
--- /dev/null
+++ b/internal/ceres/array_utils.h
@@ -0,0 +1,65 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Utility routines for validating arrays.
+//
+// These are useful for detecting two common class of errors.
+//
+// 1. Uninitialized memory - where the user for some reason did not
+// compute part of an array, but the code expects it.
+//
+// 2. Numerical failure while computing the cost/residual/jacobian,
+// e.g. NaN, infinities etc. This is particularly useful since the
+// automatic differentiation code does computations that are not
+// evident to the user and can silently generate hard to debug errors.
+
+#ifndef CERES_INTERNAL_ARRAY_UTILS_H_
+#define CERES_INTERNAL_ARRAY_UTILS_H_
+
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+// Fill the array x with an impossible value that the user code is
+// never expected to compute.
+void InvalidateArray(int size, double* x);
+
+// Check if all the entries of the array x are valid, i.e. all the
+// values in the array should be finite and none of them should be
+// equal to the "impossible" value used by InvalidateArray.
+bool IsArrayValid(int size, const double* x);
+
+extern const double kImpossibleValue;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_ARRAY_UTILS_H_
diff --git a/internal/ceres/array_utils_test.cc b/internal/ceres/array_utils_test.cc
new file mode 100644
index 0000000..c19a44a
--- /dev/null
+++ b/internal/ceres/array_utils_test.cc
@@ -0,0 +1,58 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/array_utils.h"
+
+#include <limits>
+#include <cmath>
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(ArrayUtils, IsArrayValid) {
+ double x[3];
+ x[0] = 0.0;
+ x[1] = 1.0;
+ x[2] = 2.0;
+ EXPECT_TRUE(IsArrayValid(3, x));
+ x[1] = std::numeric_limits<double>::infinity();
+ EXPECT_FALSE(IsArrayValid(3, x));
+ x[1] = std::numeric_limits<double>::quiet_NaN();
+ EXPECT_FALSE(IsArrayValid(3, x));
+ x[1] = std::numeric_limits<double>::signaling_NaN();
+ EXPECT_FALSE(IsArrayValid(3, x));
+ EXPECT_TRUE(IsArrayValid(1, NULL));
+ InvalidateArray(3, x);
+ EXPECT_FALSE(IsArrayValid(3, x));
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/autodiff_cost_function_test.cc b/internal/ceres/autodiff_cost_function_test.cc
new file mode 100644
index 0000000..e98397a
--- /dev/null
+++ b/internal/ceres/autodiff_cost_function_test.cc
@@ -0,0 +1,146 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/autodiff_cost_function.h"
+
+#include <cstddef>
+
+#include "gtest/gtest.h"
+#include "ceres/cost_function.h"
+
+namespace ceres {
+namespace internal {
+
+class BinaryScalarCost {
+ public:
+ explicit BinaryScalarCost(double a): a_(a) {}
+ template <typename T>
+ bool operator()(const T* const x, const T* const y,
+ T* cost) const {
+ cost[0] = x[0] * y[0] + x[1] * y[1] - T(a_);
+ return true;
+ }
+ private:
+ double a_;
+};
+
+TEST(AutodiffCostFunction, BilinearDifferentiationTest) {
+ CostFunction* cost_function =
+ new AutoDiffCostFunction<BinaryScalarCost, 1, 2, 2>(
+ new BinaryScalarCost(1.0));
+
+ double** parameters = new double*[2];
+ parameters[0] = new double[2];
+ parameters[1] = new double[2];
+
+ parameters[0][0] = 1;
+ parameters[0][1] = 2;
+
+ parameters[1][0] = 3;
+ parameters[1][1] = 4;
+
+ double** jacobians = new double*[2];
+ jacobians[0] = new double[2];
+ jacobians[1] = new double[2];
+
+ double residuals = 0.0;
+
+ cost_function->Evaluate(parameters, &residuals, NULL);
+ EXPECT_EQ(10.0, residuals);
+ cost_function->Evaluate(parameters, &residuals, jacobians);
+
+ EXPECT_EQ(3, jacobians[0][0]);
+ EXPECT_EQ(4, jacobians[0][1]);
+ EXPECT_EQ(1, jacobians[1][0]);
+ EXPECT_EQ(2, jacobians[1][1]);
+
+ delete[] jacobians[0];
+ delete[] jacobians[1];
+ delete[] parameters[0];
+ delete[] parameters[1];
+ delete[] jacobians;
+ delete[] parameters;
+ delete cost_function;
+}
+
+struct TenParameterCost {
+ template <typename T>
+ bool operator()(const T* const x0,
+ const T* const x1,
+ const T* const x2,
+ const T* const x3,
+ const T* const x4,
+ const T* const x5,
+ const T* const x6,
+ const T* const x7,
+ const T* const x8,
+ const T* const x9,
+ T* cost) const {
+ cost[0] = *x0 + *x1 + *x2 + *x3 + *x4 + *x5 + *x6 + *x7 + *x8 + *x9;
+ return true;
+ }
+};
+
+TEST(AutodiffCostFunction, ManyParameterAutodiffInstantiates) {
+ CostFunction* cost_function =
+ new AutoDiffCostFunction<
+ TenParameterCost, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1>(
+ new TenParameterCost);
+
+ double** parameters = new double*[10];
+ double** jacobians = new double*[10];
+ for (int i = 0; i < 10; ++i) {
+ parameters[i] = new double[1];
+ parameters[i][0] = i;
+ jacobians[i] = new double[1];
+ }
+
+ double residuals = 0.0;
+
+ cost_function->Evaluate(parameters, &residuals, NULL);
+ EXPECT_EQ(45.0, residuals);
+
+ cost_function->Evaluate(parameters, &residuals, jacobians);
+ EXPECT_EQ(residuals, 45.0);
+ for (int i = 0; i < 10; ++i) {
+ EXPECT_EQ(1.0, jacobians[i][0]);
+ }
+
+ for (int i = 0; i < 10; ++i) {
+ delete[] jacobians[i];
+ delete[] parameters[i];
+ }
+ delete[] jacobians;
+ delete[] parameters;
+ delete cost_function;
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/autodiff_test.cc b/internal/ceres/autodiff_test.cc
new file mode 100644
index 0000000..d0bf97a
--- /dev/null
+++ b/internal/ceres/autodiff_test.cc
@@ -0,0 +1,406 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "ceres/internal/autodiff.h"
+
+#include "gtest/gtest.h"
+#include "ceres/random.h"
+
+namespace ceres {
+namespace internal {
+
+template <typename T> inline
+T &RowMajorAccess(T *base, int rows, int cols, int i, int j) {
+ return base[cols * i + j];
+}
+
+// Do (symmetric) finite differencing using the given function object 'b' of
+// type 'B' and scalar type 'T' with step size 'del'.
+//
+// The type B should have a signature
+//
+// bool operator()(T const *, T *) const;
+//
+// which maps a vector of parameters to a vector of outputs.
+template <typename B, typename T, int M, int N> inline
+bool SymmetricDiff(const B& b,
+ const T par[N],
+ T del, // step size.
+ T fun[M],
+ T jac[M * N]) { // row-major.
+ if (!b(par, fun)) {
+ return false;
+ }
+
+ // Temporary parameter vector.
+ T tmp_par[N];
+ for (int j = 0; j < N; ++j) {
+ tmp_par[j] = par[j];
+ }
+
+ // For each dimension, we do one forward step and one backward step in
+ // parameter space, and store the output vector vectors in these vectors.
+ T fwd_fun[M];
+ T bwd_fun[M];
+
+ for (int j = 0; j < N; ++j) {
+ // Forward step.
+ tmp_par[j] = par[j] + del;
+ if (!b(tmp_par, fwd_fun)) {
+ return false;
+ }
+
+ // Backward step.
+ tmp_par[j] = par[j] - del;
+ if (!b(tmp_par, bwd_fun)) {
+ return false;
+ }
+
+ // Symmetric differencing:
+ // f'(a) = (f(a + h) - f(a - h)) / (2 h)
+ for (int i = 0; i < M; ++i) {
+ RowMajorAccess(jac, M, N, i, j) =
+ (fwd_fun[i] - bwd_fun[i]) / (T(2) * del);
+ }
+
+ // Restore our temporary vector.
+ tmp_par[j] = par[j];
+ }
+
+ return true;
+}
+
+template <typename A> inline
+void QuaternionToScaledRotation(A const q[4], A R[3 * 3]) {
+ // Make convenient names for elements of q.
+ A a = q[0];
+ A b = q[1];
+ A c = q[2];
+ A d = q[3];
+ // This is not to eliminate common sub-expression, but to
+ // make the lines shorter so that they fit in 80 columns!
+ A aa = a*a;
+ A ab = a*b;
+ A ac = a*c;
+ A ad = a*d;
+ A bb = b*b;
+ A bc = b*c;
+ A bd = b*d;
+ A cc = c*c;
+ A cd = c*d;
+ A dd = d*d;
+#define R(i, j) RowMajorAccess(R, 3, 3, (i), (j))
+ R(0, 0) = aa+bb-cc-dd; R(0, 1) = A(2)*(bc-ad); R(0, 2) = A(2)*(ac+bd); // NOLINT
+ R(1, 0) = A(2)*(ad+bc); R(1, 1) = aa-bb+cc-dd; R(1, 2) = A(2)*(cd-ab); // NOLINT
+ R(2, 0) = A(2)*(bd-ac); R(2, 1) = A(2)*(ab+cd); R(2, 2) = aa-bb-cc+dd; // NOLINT
+#undef R
+}
+
+// A structure for projecting a 3x4 camera matrix and a
+// homogeneous 3D point, to a 2D inhomogeneous point.
+struct Projective {
+ // Function that takes P and X as separate vectors:
+ // P, X -> x
+ template <typename A>
+ bool operator()(A const P[12], A const X[4], A x[2]) const {
+ A PX[3];
+ for (int i = 0; i < 3; ++i) {
+ PX[i] = RowMajorAccess(P, 3, 4, i, 0) * X[0] +
+ RowMajorAccess(P, 3, 4, i, 1) * X[1] +
+ RowMajorAccess(P, 3, 4, i, 2) * X[2] +
+ RowMajorAccess(P, 3, 4, i, 3) * X[3];
+ }
+ if (PX[2] != 0.0) {
+ x[0] = PX[0] / PX[2];
+ x[1] = PX[1] / PX[2];
+ return true;
+ }
+ return false;
+ }
+
+ // Version that takes P and X packed in one vector:
+ //
+ // (P, X) -> x
+ //
+ template <typename A>
+ bool operator()(A const P_X[12 + 4], A x[2]) const {
+ return operator()(P_X + 0, P_X + 12, x);
+ }
+};
+
+// Test projective camera model projector.
+TEST(AutoDiff, ProjectiveCameraModel) {
+ srand(5);
+ double const tol = 1e-10; // floating-point tolerance.
+ double const del = 1e-4; // finite-difference step.
+ double const err = 1e-6; // finite-difference tolerance.
+
+ Projective b;
+
+ // Make random P and X, in a single vector.
+ double PX[12 + 4];
+ for (int i = 0; i < 12 + 4; ++i) {
+ PX[i] = RandDouble();
+ }
+
+ // Handy names for the P and X parts.
+ double *P = PX + 0;
+ double *X = PX + 12;
+
+ // Apply the mapping, to get image point b_x.
+ double b_x[2];
+ b(P, X, b_x);
+
+ // Use finite differencing to estimate the Jacobian.
+ double fd_x[2];
+ double fd_J[2 * (12 + 4)];
+ ASSERT_TRUE((SymmetricDiff<Projective, double, 2, 12 + 4>(b, PX, del,
+ fd_x, fd_J)));
+
+ for (int i = 0; i < 2; ++i) {
+ ASSERT_EQ(fd_x[i], b_x[i]);
+ }
+
+ // Use automatic differentiation to compute the Jacobian.
+ double ad_x1[2];
+ double J_PX[2 * (12 + 4)];
+ {
+ double *parameters[] = { PX };
+ double *jacobians[] = { J_PX };
+ ASSERT_TRUE((AutoDiff<Projective, double, 12 + 4>::Differentiate(
+ b, parameters, 2, ad_x1, jacobians)));
+
+ for (int i = 0; i < 2; ++i) {
+ ASSERT_NEAR(ad_x1[i], b_x[i], tol);
+ }
+ }
+
+ // Use automatic differentiation (again), with two arguments.
+ {
+ double ad_x2[2];
+ double J_P[2 * 12];
+ double J_X[2 * 4];
+ double *parameters[] = { P, X };
+ double *jacobians[] = { J_P, J_X };
+ ASSERT_TRUE((AutoDiff<Projective, double, 12, 4>::Differentiate(
+ b, parameters, 2, ad_x2, jacobians)));
+
+ for (int i = 0; i < 2; ++i) {
+ ASSERT_NEAR(ad_x2[i], b_x[i], tol);
+ }
+
+ // Now compare the jacobians we got.
+ for (int i = 0; i < 2; ++i) {
+ for (int j = 0; j < 12 + 4; ++j) {
+ ASSERT_NEAR(J_PX[(12 + 4) * i + j], fd_J[(12 + 4) * i + j], err);
+ }
+
+ for (int j = 0; j < 12; ++j) {
+ ASSERT_NEAR(J_PX[(12 + 4) * i + j], J_P[12 * i + j], tol);
+ }
+ for (int j = 0; j < 4; ++j) {
+ ASSERT_NEAR(J_PX[(12 + 4) * i + 12 + j], J_X[4 * i + j], tol);
+ }
+ }
+ }
+}
+
+// Object to implement the projection by a calibrated camera.
+struct Metric {
+ // The mapping is
+ //
+ // q, c, X -> x = dehomg(R(q) (X - c))
+ //
+ // where q is a quaternion and c is the center of projection.
+ //
+ // This function takes three input vectors.
+ template <typename A>
+ bool operator()(A const q[4], A const c[3], A const X[3], A x[2]) const {
+ A R[3 * 3];
+ QuaternionToScaledRotation(q, R);
+
+ // Convert the quaternion mapping all the way to projective matrix.
+ A P[3 * 4];
+
+ // Set P(:, 1:3) = R
+ for (int i = 0; i < 3; ++i) {
+ for (int j = 0; j < 3; ++j) {
+ RowMajorAccess(P, 3, 4, i, j) = RowMajorAccess(R, 3, 3, i, j);
+ }
+ }
+
+ // Set P(:, 4) = - R c
+ for (int i = 0; i < 3; ++i) {
+ RowMajorAccess(P, 3, 4, i, 3) =
+ - (RowMajorAccess(R, 3, 3, i, 0) * c[0] +
+ RowMajorAccess(R, 3, 3, i, 1) * c[1] +
+ RowMajorAccess(R, 3, 3, i, 2) * c[2]);
+ }
+
+ A X1[4] = { X[0], X[1], X[2], A(1) };
+ Projective p;
+ return p(P, X1, x);
+ }
+
+ // A version that takes a single vector.
+ template <typename A>
+ bool operator()(A const q_c_X[4 + 3 + 3], A x[2]) const {
+ return operator()(q_c_X, q_c_X + 4, q_c_X + 4 + 3, x);
+ }
+};
+
+// This test is similar in structure to the previous one.
+TEST(AutoDiff, Metric) {
+ srand(5);
+ double const tol = 1e-10; // floating-point tolerance.
+ double const del = 1e-4; // finite-difference step.
+ double const err = 1e-5; // finite-difference tolerance.
+
+ Metric b;
+
+ // Make random parameter vector.
+ double qcX[4 + 3 + 3];
+ for (int i = 0; i < 4 + 3 + 3; ++i)
+ qcX[i] = RandDouble();
+
+ // Handy names.
+ double *q = qcX;
+ double *c = qcX + 4;
+ double *X = qcX + 4 + 3;
+
+ // Compute projection, b_x.
+ double b_x[2];
+ ASSERT_TRUE(b(q, c, X, b_x));
+
+ // Finite differencing estimate of Jacobian.
+ double fd_x[2];
+ double fd_J[2 * (4 + 3 + 3)];
+ ASSERT_TRUE((SymmetricDiff<Metric, double, 2, 4 + 3 + 3>(b, qcX, del,
+ fd_x, fd_J)));
+
+ for (int i = 0; i < 2; ++i) {
+ ASSERT_NEAR(fd_x[i], b_x[i], tol);
+ }
+
+ // Automatic differentiation.
+ double ad_x[2];
+ double J_q[2 * 4];
+ double J_c[2 * 3];
+ double J_X[2 * 3];
+ double *parameters[] = { q, c, X };
+ double *jacobians[] = { J_q, J_c, J_X };
+ ASSERT_TRUE((AutoDiff<Metric, double, 4, 3, 3>::Differentiate(
+ b, parameters, 2, ad_x, jacobians)));
+
+ for (int i = 0; i < 2; ++i) {
+ ASSERT_NEAR(ad_x[i], b_x[i], tol);
+ }
+
+ // Compare the pieces.
+ for (int i = 0; i < 2; ++i) {
+ for (int j = 0; j < 4; ++j) {
+ ASSERT_NEAR(J_q[4 * i + j], fd_J[(4 + 3 + 3) * i + j], err);
+ }
+ for (int j = 0; j < 3; ++j) {
+ ASSERT_NEAR(J_c[3 * i + j], fd_J[(4 + 3 + 3) * i + j + 4], err);
+ }
+ for (int j = 0; j < 3; ++j) {
+ ASSERT_NEAR(J_X[3 * i + j], fd_J[(4 + 3 + 3) * i + j + 4 + 3], err);
+ }
+ }
+}
+
+struct VaryingResidualFunctor {
+ template <typename T>
+ bool operator()(const T x[2], T* y) const {
+ for (int i = 0; i < num_residuals; ++i) {
+ y[i] = T(i) * x[0] * x[1] * x[1];
+ }
+ return true;
+ }
+
+ int num_residuals;
+};
+
+TEST(AutoDiff, VaryingNumberOfResidualsForOneCostFunctorType) {
+ double x[2] = { 1.0, 5.5 };
+ double *parameters[] = { x };
+ const int kMaxResiduals = 10;
+ double J_x[2 * kMaxResiduals];
+ double residuals[kMaxResiduals];
+ double *jacobians[] = { J_x };
+
+ // Use a single functor, but tweak it to produce different numbers of
+ // residuals.
+ VaryingResidualFunctor functor;
+
+ for (int num_residuals = 1; num_residuals < kMaxResiduals; ++num_residuals) {
+ // Tweak the number of residuals to produce.
+ functor.num_residuals = num_residuals;
+
+ // Run autodiff with the new number of residuals.
+ ASSERT_TRUE((AutoDiff<VaryingResidualFunctor, double, 2>::Differentiate(
+ functor, parameters, num_residuals, residuals, jacobians)));
+
+ const double kTolerance = 1e-14;
+ for (int i = 0; i < num_residuals; ++i) {
+ EXPECT_NEAR(J_x[2 * i + 0], i * x[1] * x[1], kTolerance) << "i: " << i;
+ EXPECT_NEAR(J_x[2 * i + 1], 2 * i * x[0] * x[1], kTolerance) << "i: " << i;
+ }
+ }
+}
+
+// This is fragile test that triggers the alignment bug on
+// i686-apple-darwin10-llvm-g++-4.2 (GCC) 4.2.1. It is quite possible,
+// that other combinations of operating system + compiler will
+// re-arrange the operations in this test.
+//
+// But this is the best (and only) way we know of to trigger this
+// problem for now. A more robust solution that guarantees the
+// alignment of Eigen types used for automatic differentiation would
+// be nice.
+TEST(AutoDiff, AlignedAllocationTest) {
+ // This int is needed to allocate 16 bits on the stack, so that the
+ // next allocation is not aligned by default.
+ char y = 0;
+
+ // This is needed to prevent the compiler from optimizing y out of
+ // this function.
+ y += 1;
+
+ typedef Jet<double, 2> JetT;
+ FixedArray<JetT, (256 * 7) / sizeof(JetT)> x(3);
+
+ // Need this to makes sure that x does not get optimized out.
+ x[0] = x[0] + JetT(1.0);
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/block_evaluate_preparer.cc b/internal/ceres/block_evaluate_preparer.cc
new file mode 100644
index 0000000..9edc4fa
--- /dev/null
+++ b/internal/ceres/block_evaluate_preparer.cc
@@ -0,0 +1,83 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "ceres/block_evaluate_preparer.h"
+
+#include <vector>
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/casts.h"
+#include "ceres/parameter_block.h"
+#include "ceres/residual_block.h"
+#include "ceres/sparse_matrix.h"
+
+namespace ceres {
+namespace internal {
+
+void BlockEvaluatePreparer::Init(int const* const* jacobian_layout,
+ int max_derivatives_per_residual_block) {
+ jacobian_layout_ = jacobian_layout;
+ scratch_evaluate_preparer_.Init(max_derivatives_per_residual_block);
+}
+
+// Point the jacobian blocks directly into the block sparse matrix.
+void BlockEvaluatePreparer::Prepare(const ResidualBlock* residual_block,
+ int residual_block_index,
+ SparseMatrix* jacobian,
+ double** jacobians) {
+ // If the overall jacobian is not available, use the scratch space.
+ if (jacobian == NULL) {
+ scratch_evaluate_preparer_.Prepare(residual_block,
+ residual_block_index,
+ jacobian,
+ jacobians);
+ return;
+ }
+
+ double* jacobian_values =
+ down_cast<BlockSparseMatrix*>(jacobian)->mutable_values();
+
+ const int* jacobian_block_offset = jacobian_layout_[residual_block_index];
+ const int num_parameter_blocks = residual_block->NumParameterBlocks();
+ for (int j = 0; j < num_parameter_blocks; ++j) {
+ if (!residual_block->parameter_blocks()[j]->IsConstant()) {
+ jacobians[j] = jacobian_values + *jacobian_block_offset;
+
+ // The jacobian_block_offset can't be indexed with 'j' since the code
+ // that creates the layout strips out any blocks for inactive
+ // parameters. Instead, bump the pointer for active parameters only.
+ jacobian_block_offset++;
+ } else {
+ jacobians[j] = NULL;
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/block_evaluate_preparer.h b/internal/ceres/block_evaluate_preparer.h
new file mode 100644
index 0000000..354acc0
--- /dev/null
+++ b/internal/ceres/block_evaluate_preparer.h
@@ -0,0 +1,77 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// A evaluate preparer which puts jacobian the evaluated jacobian blocks
+// directly into their final resting place in an overall block sparse matrix.
+// The evaluator takes care to avoid evaluating the jacobian for fixed
+// parameters.
+
+#ifndef CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_
+#define CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_
+
+#include "ceres/scratch_evaluate_preparer.h"
+
+namespace ceres {
+namespace internal {
+
+class ResidualBlock;
+class SparseMatrix;
+
+class BlockEvaluatePreparer {
+ public:
+ // Using Init() instead of a constructor allows for allocating this structure
+ // with new[]. This is because C++ doesn't allow passing arguments to objects
+ // constructed with new[] (as opposed to plain 'new').
+ void Init(int const* const* jacobian_layout,
+ int max_derivatives_per_residual_block);
+
+ // EvaluatePreparer interface
+
+ // Point the jacobian blocks directly into the block sparse matrix, if
+ // jacobian is non-null. Otherwise, uses an internal per-thread buffer to
+ // store the jacobians temporarily.
+ void Prepare(const ResidualBlock* residual_block,
+ int residual_block_index,
+ SparseMatrix* jacobian,
+ double** jacobians);
+
+ private:
+ int const* const* jacobian_layout_;
+
+ // For the case that the overall jacobian is not available, but the
+ // individual jacobians are requested, use a pass-through scratch evaluate
+ // preparer.
+ ScratchEvaluatePreparer scratch_evaluate_preparer_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_
diff --git a/internal/ceres/block_jacobi_preconditioner.cc b/internal/ceres/block_jacobi_preconditioner.cc
new file mode 100644
index 0000000..474c37f
--- /dev/null
+++ b/internal/ceres/block_jacobi_preconditioner.cc
@@ -0,0 +1,135 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "ceres/block_jacobi_preconditioner.h"
+
+#include "Eigen/Cholesky"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/block_structure.h"
+#include "ceres/casts.h"
+#include "ceres/integral_types.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+BlockJacobiPreconditioner::BlockJacobiPreconditioner(const LinearOperator& A)
+ : num_rows_(A.num_rows()),
+ block_structure_(
+ *(down_cast<const BlockSparseMatrix*>(&A)->block_structure())) {
+ // Calculate the amount of storage needed.
+ int storage_needed = 0;
+ for (int c = 0; c < block_structure_.cols.size(); ++c) {
+ int size = block_structure_.cols[c].size;
+ storage_needed += size * size;
+ }
+
+ // Size the offsets and storage.
+ blocks_.resize(block_structure_.cols.size());
+ block_storage_.resize(storage_needed);
+
+ // Put pointers to the storage in the offsets.
+ double* block_cursor = &block_storage_[0];
+ for (int c = 0; c < block_structure_.cols.size(); ++c) {
+ int size = block_structure_.cols[c].size;
+ blocks_[c] = block_cursor;
+ block_cursor += size * size;
+ }
+}
+
+BlockJacobiPreconditioner::~BlockJacobiPreconditioner() {
+}
+
+void BlockJacobiPreconditioner::Update(const LinearOperator& matrix, const double* D) {
+ const BlockSparseMatrix& A = *(down_cast<const BlockSparseMatrix*>(&matrix));
+ const CompressedRowBlockStructure* bs = A.block_structure();
+
+ // Compute the diagonal blocks by block inner products.
+ std::fill(block_storage_.begin(), block_storage_.end(), 0.0);
+ for (int r = 0; r < bs->rows.size(); ++r) {
+ const int row_block_size = bs->rows[r].block.size;
+ const vector<Cell>& cells = bs->rows[r].cells;
+ const double* row_values = A.RowBlockValues(r);
+ for (int c = 0; c < cells.size(); ++c) {
+ const int col_block_size = bs->cols[cells[c].block_id].size;
+ ConstMatrixRef m(row_values + cells[c].position,
+ row_block_size,
+ col_block_size);
+
+ MatrixRef(blocks_[cells[c].block_id],
+ col_block_size,
+ col_block_size).noalias() += m.transpose() * m;
+
+ // TODO(keir): Figure out when the below expression is actually faster
+ // than doing the full rank update. The issue is that for smaller sizes,
+ // the rankUpdate() function is slower than the full product done above.
+ //
+ // On the typical bundling problems, the above product is ~5% faster.
+ //
+ // MatrixRef(blocks_[cells[c].block_id],
+ // col_block_size,
+ // col_block_size).selfadjointView<Eigen::Upper>().rankUpdate(m);
+ //
+ }
+ }
+
+ // Add the diagonal and invert each block.
+ for (int c = 0; c < bs->cols.size(); ++c) {
+ const int size = block_structure_.cols[c].size;
+ const int position = block_structure_.cols[c].position;
+ MatrixRef block(blocks_[c], size, size);
+
+ if (D != NULL) {
+ block.diagonal() += ConstVectorRef(D + position, size).array().square().matrix();
+ }
+
+ block = block.selfadjointView<Eigen::Upper>()
+ .ldlt()
+ .solve(Matrix::Identity(size, size));
+ }
+}
+
+void BlockJacobiPreconditioner::RightMultiply(const double* x, double* y) const {
+ for (int c = 0; c < block_structure_.cols.size(); ++c) {
+ const int size = block_structure_.cols[c].size;
+ const int position = block_structure_.cols[c].position;
+ ConstMatrixRef D(blocks_[c], size, size);
+ ConstVectorRef x_block(x + position, size);
+ VectorRef y_block(y + position, size);
+ y_block += D * x_block;
+ }
+}
+
+void BlockJacobiPreconditioner::LeftMultiply(const double* x, double* y) const {
+ RightMultiply(x, y);
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/block_jacobi_preconditioner.h b/internal/ceres/block_jacobi_preconditioner.h
new file mode 100644
index 0000000..51f2655
--- /dev/null
+++ b/internal/ceres/block_jacobi_preconditioner.h
@@ -0,0 +1,84 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#ifndef CERES_INTERNAL_BLOCK_JACOBI_PRECONDITIONER_H_
+#define CERES_INTERNAL_BLOCK_JACOBI_PRECONDITIONER_H_
+
+#include <vector>
+#include "ceres/linear_operator.h"
+
+namespace ceres {
+namespace internal {
+
+struct CompressedRowBlockStructure;
+class LinearOperator;
+class SparseMatrix;
+
+// A block Jacobi preconditioner. This is intended for use with conjugate
+// gradients, or other iterative symmetric solvers. To use the preconditioner,
+// create one by passing a BlockSparseMatrix as the linear operator "A" to the
+// constructor. This fixes the sparsity pattern to the pattern of the matrix
+// A^TA.
+//
+// Before each use of the preconditioner in a solve with conjugate gradients,
+// update the matrix by running Update(A, D). The values of the matrix A are
+// inspected to construct the preconditioner. The vector D is applied as the
+// D^TD diagonal term.
+class BlockJacobiPreconditioner : public LinearOperator {
+ public:
+ // A must remain valid while the BlockJacobiPreconditioner is.
+ BlockJacobiPreconditioner(const LinearOperator& A);
+ virtual ~BlockJacobiPreconditioner();
+
+ // Update the preconditioner with the values found in A. The sparsity pattern
+ // must match that of the A passed to the constructor. D is a vector that
+ // must have the same number of rows as A, and is applied as a diagonal in
+ // addition to the block diagonals of A.
+ void Update(const LinearOperator& A, const double* D);
+
+ // LinearOperator interface.
+ virtual void RightMultiply(const double* x, double* y) const;
+ virtual void LeftMultiply(const double* x, double* y) const;
+ virtual int num_rows() const { return num_rows_; }
+ virtual int num_cols() const { return num_rows_; }
+
+ private:
+ std::vector<double*> blocks_;
+ std::vector<double> block_storage_;
+ int num_rows_;
+
+ // The block structure of the matrix this preconditioner is for (e.g. J).
+ const CompressedRowBlockStructure& block_structure_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_BLOCK_JACOBI_PRECONDITIONER_H_
diff --git a/internal/ceres/block_jacobian_writer.cc b/internal/ceres/block_jacobian_writer.cc
new file mode 100644
index 0000000..f90c350
--- /dev/null
+++ b/internal/ceres/block_jacobian_writer.cc
@@ -0,0 +1,212 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "ceres/block_jacobian_writer.h"
+
+#include "ceres/block_evaluate_preparer.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/parameter_block.h"
+#include "ceres/program.h"
+#include "ceres/residual_block.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+namespace {
+
+// Given the residual block ordering, build a lookup table to determine which
+// per-parameter jacobian goes where in the overall program jacobian.
+//
+// Since we expect to use a Schur type linear solver to solve the LM step, take
+// extra care to place the E blocks and the F blocks contiguously. E blocks are
+// the first num_eliminate_blocks parameter blocks as indicated by the parameter
+// block ordering. The remaining parameter blocks are the F blocks.
+//
+// TODO(keir): Consider if we should use a boolean for each parameter block
+// instead of num_eliminate_blocks.
+void BuildJacobianLayout(const Program& program,
+ int num_eliminate_blocks,
+ vector<int*>* jacobian_layout,
+ vector<int>* jacobian_layout_storage) {
+ const vector<ResidualBlock*>& residual_blocks = program.residual_blocks();
+
+ // Iterate over all the active residual blocks and determine how many E blocks
+ // are there. This will determine where the F blocks start in the jacobian
+ // matrix. Also compute the number of jacobian blocks.
+ int f_block_pos = 0;
+ int num_jacobian_blocks = 0;
+ for (int i = 0; i < residual_blocks.size(); ++i) {
+ ResidualBlock* residual_block = residual_blocks[i];
+ const int num_residuals = residual_block->NumResiduals();
+ const int num_parameter_blocks = residual_block->NumParameterBlocks();
+
+ // Advance f_block_pos over each E block for this residual.
+ for (int j = 0; j < num_parameter_blocks; ++j) {
+ ParameterBlock* parameter_block = residual_block->parameter_blocks()[j];
+ if (!parameter_block->IsConstant()) {
+ // Only count blocks for active parameters.
+ num_jacobian_blocks++;
+ if (parameter_block->index() < num_eliminate_blocks) {
+ f_block_pos += num_residuals * parameter_block->LocalSize();
+ }
+ }
+ }
+ }
+
+ // We now know that the E blocks are laid out starting at zero, and the F
+ // blocks are laid out starting at f_block_pos. Iterate over the residual
+ // blocks again, and this time fill the jacobian_layout array with the
+ // position information.
+
+ jacobian_layout->resize(program.NumResidualBlocks());
+ jacobian_layout_storage->resize(num_jacobian_blocks);
+
+ int e_block_pos = 0;
+ int* jacobian_pos = &(*jacobian_layout_storage)[0];
+ for (int i = 0; i < residual_blocks.size(); ++i) {
+ const ResidualBlock* residual_block = residual_blocks[i];
+ const int num_residuals = residual_block->NumResiduals();
+ const int num_parameter_blocks = residual_block->NumParameterBlocks();
+
+ (*jacobian_layout)[i] = jacobian_pos;
+ for (int j = 0; j < num_parameter_blocks; ++j) {
+ ParameterBlock* parameter_block = residual_block->parameter_blocks()[j];
+ const int parameter_block_index = parameter_block->index();
+ if (parameter_block->IsConstant()) {
+ continue;
+ }
+ const int jacobian_block_size =
+ num_residuals * parameter_block->LocalSize();
+ if (parameter_block_index < num_eliminate_blocks) {
+ *jacobian_pos = e_block_pos;
+ e_block_pos += jacobian_block_size;
+ } else {
+ *jacobian_pos = f_block_pos;
+ f_block_pos += jacobian_block_size;
+ }
+ jacobian_pos++;
+ }
+ }
+}
+
+} // namespace
+
+BlockJacobianWriter::BlockJacobianWriter(const Evaluator::Options& options,
+ Program* program)
+ : program_(program) {
+ CHECK_GE(options.num_eliminate_blocks, 0)
+ << "num_eliminate_blocks must be greater than 0.";
+
+ BuildJacobianLayout(*program,
+ options.num_eliminate_blocks,
+ &jacobian_layout_,
+ &jacobian_layout_storage_);
+}
+
+// Create evaluate prepareres that point directly into the final jacobian. This
+// makes the final Write() a nop.
+BlockEvaluatePreparer* BlockJacobianWriter::CreateEvaluatePreparers(
+ int num_threads) {
+ int max_derivatives_per_residual_block =
+ program_->MaxDerivativesPerResidualBlock();
+
+ BlockEvaluatePreparer* preparers = new BlockEvaluatePreparer[num_threads];
+ for (int i = 0; i < num_threads; i++) {
+ preparers[i].Init(&jacobian_layout_[0], max_derivatives_per_residual_block);
+ }
+ return preparers;
+}
+
+SparseMatrix* BlockJacobianWriter::CreateJacobian() const {
+ CompressedRowBlockStructure* bs = new CompressedRowBlockStructure;
+
+ const vector<ParameterBlock*>& parameter_blocks =
+ program_->parameter_blocks();
+
+ // Construct the column blocks.
+ bs->cols.resize(parameter_blocks.size());
+ for (int i = 0, cursor = 0; i < parameter_blocks.size(); ++i) {
+ CHECK_NE(parameter_blocks[i]->index(), -1);
+ CHECK(!parameter_blocks[i]->IsConstant());
+ bs->cols[i].size = parameter_blocks[i]->LocalSize();
+ bs->cols[i].position = cursor;
+ cursor += bs->cols[i].size;
+ }
+
+ // Construct the cells in each row.
+ const vector<ResidualBlock*>& residual_blocks =
+ program_->residual_blocks();
+ int row_block_position = 0;
+ bs->rows.resize(residual_blocks.size());
+ for (int i = 0; i < residual_blocks.size(); ++i) {
+ const ResidualBlock* residual_block = residual_blocks[i];
+ CompressedRow* row = &bs->rows[i];
+
+ row->block.size = residual_block->NumResiduals();
+ row->block.position = row_block_position;
+ row_block_position += row->block.size;
+
+ // Size the row by the number of active parameters in this residual.
+ const int num_parameter_blocks = residual_block->NumParameterBlocks();
+ int num_active_parameter_blocks = 0;
+ for (int j = 0; j < num_parameter_blocks; ++j) {
+ if (residual_block->parameter_blocks()[j]->index() != -1) {
+ num_active_parameter_blocks++;
+ }
+ }
+ row->cells.resize(num_active_parameter_blocks);
+
+ // Add layout information for the active parameters in this row.
+ for (int j = 0, k = 0; j < num_parameter_blocks; ++j) {
+ const ParameterBlock* parameter_block =
+ residual_block->parameter_blocks()[j];
+ if (!parameter_block->IsConstant()) {
+ Cell& cell = row->cells[k];
+ cell.block_id = parameter_block->index();
+ cell.position = jacobian_layout_[i][k];
+
+ // Only increment k for active parameters, since there is only layout
+ // information for active parameters.
+ k++;
+ }
+ }
+
+ sort(row->cells.begin(), row->cells.end(), CellLessThan);
+ }
+
+ BlockSparseMatrix* jacobian = new BlockSparseMatrix(bs);
+ CHECK_NOTNULL(jacobian);
+ return jacobian;
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/block_jacobian_writer.h b/internal/ceres/block_jacobian_writer.h
new file mode 100644
index 0000000..140c721
--- /dev/null
+++ b/internal/ceres/block_jacobian_writer.h
@@ -0,0 +1,127 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// A jacobian writer that writes to block sparse matrices. The "writer" name is
+// misleading, since the Write() operation on the block jacobian writer does not
+// write anything. Instead, the Prepare() method on the BlockEvaluatePreparers
+// makes a jacobians array which has direct pointers into the block sparse
+// jacobian. When the cost function is evaluated, the jacobian blocks get placed
+// directly in their final location.
+
+#ifndef CERES_INTERNAL_BLOCK_JACOBIAN_WRITER_H_
+#define CERES_INTERNAL_BLOCK_JACOBIAN_WRITER_H_
+
+#include <vector>
+#include "ceres/evaluator.h"
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+class BlockEvaluatePreparer;
+class Program;
+class SparseMatrix;
+
+class BlockJacobianWriter {
+ public:
+ BlockJacobianWriter(const Evaluator::Options& options,
+ Program* program);
+
+ // JacobianWriter interface.
+
+ // Create evaluate prepareres that point directly into the final jacobian.
+ // This makes the final Write() a nop.
+ BlockEvaluatePreparer* CreateEvaluatePreparers(int num_threads);
+
+ SparseMatrix* CreateJacobian() const;
+
+ void Write(int /* residual_id */,
+ int /* residual_offset */,
+ double** /* jacobians */,
+ SparseMatrix* /* jacobian */) {
+ // This is a noop since the blocks were written directly into their final
+ // position by the outside evaluate call, thanks to the jacobians array
+ // prepared by the BlockEvaluatePreparers.
+ }
+
+ private:
+ Program* program_;
+
+ // Stores the position of each residual / parameter jacobian.
+ //
+ // The block sparse matrix that this writer writes to is stored as a set of
+ // contiguos dense blocks, one after each other; see BlockSparseMatrix. The
+ // "double* values_" member of the block sparse matrix contains all of these
+ // blocks. Given a pointer to the first element of a block and the size of
+ // that block, it's possible to write to it.
+ //
+ // In the case of a block sparse jacobian, the jacobian writer needs a way to
+ // find the offset in the values_ array of each residual/parameter jacobian
+ // block.
+ //
+ // That is the purpose of jacobian_layout_.
+ //
+ // In particular, jacobian_layout_[i][j] is the offset in the values_ array of
+ // the derivative of residual block i with respect to the parameter block at
+ // active argument position j.
+ //
+ // The active qualifier means that non-active parameters do not count. Care
+ // must be taken when indexing into jacobian_layout_ to account for this.
+ // Consider a single residual example:
+ //
+ // r(x, y, z)
+ //
+ // with r in R^3, x in R^4, y in R^2, and z in R^5.
+ // Take y as a constant (non-active) parameter.
+ // Take r as residual number 0.
+ //
+ // In this case, the active arguments are only (x, z), so the active argument
+ // position for x is 0, and the active argument position for z is 1. This is
+ // similar to thinking of r as taking only 2 parameters:
+ //
+ // r(x, z)
+ //
+ // There are only 2 jacobian blocks: dr/dx and dr/dz. jacobian_layout_ would
+ // have the following contents:
+ //
+ // jacobian_layout_[0] = { 0, 12 }
+ //
+ // which indicates that dr/dx is located at values_[0], and dr/dz is at
+ // values_[12]. See BlockEvaluatePreparer::Prepare()'s comments about 'j'.
+ vector<int*> jacobian_layout_;
+
+ // The pointers in jacobian_layout_ point directly into this vector.
+ vector<int> jacobian_layout_storage_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_BLOCK_JACOBIAN_WRITER_H_
diff --git a/internal/ceres/block_random_access_dense_matrix.cc b/internal/ceres/block_random_access_dense_matrix.cc
new file mode 100644
index 0000000..aedfc74
--- /dev/null
+++ b/internal/ceres/block_random_access_dense_matrix.cc
@@ -0,0 +1,83 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/block_random_access_dense_matrix.h"
+
+#include <vector>
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+BlockRandomAccessDenseMatrix::BlockRandomAccessDenseMatrix(
+ const vector<int>& blocks) {
+ block_layout_.resize(blocks.size(), 0);
+ num_rows_ = 0;
+ for (int i = 0; i < blocks.size(); ++i) {
+ block_layout_[i] = num_rows_;
+ num_rows_ += blocks[i];
+ }
+
+ values_.reset(new double[num_rows_ * num_rows_]);
+ CHECK_NOTNULL(values_.get());
+ cell_info_.values = values_.get();
+ SetZero();
+}
+
+// Assume that the user does not hold any locks on any cell blocks
+// when they are calling SetZero.
+BlockRandomAccessDenseMatrix::~BlockRandomAccessDenseMatrix() {
+}
+
+CellInfo* BlockRandomAccessDenseMatrix::GetCell(const int row_block_id,
+ const int col_block_id,
+ int* row,
+ int* col,
+ int* row_stride,
+ int* col_stride) {
+ *row = block_layout_[row_block_id];
+ *col = block_layout_[col_block_id];
+ *row_stride = num_rows_;
+ *col_stride = num_rows_;
+ return &cell_info_;
+}
+
+// Assume that the user does not hold any locks on any cell blocks
+// when they are calling SetZero.
+void BlockRandomAccessDenseMatrix::SetZero() {
+ if (num_rows_) {
+ VectorRef(values_.get(), num_rows_ * num_rows_).setZero();
+ }
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/block_random_access_dense_matrix.h b/internal/ceres/block_random_access_dense_matrix.h
new file mode 100644
index 0000000..9f27a4c
--- /dev/null
+++ b/internal/ceres/block_random_access_dense_matrix.h
@@ -0,0 +1,98 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DENSE_MATRIX_H_
+#define CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DENSE_MATRIX_H_
+
+#include "ceres/block_random_access_matrix.h"
+
+#include <vector>
+
+#include "ceres/internal/macros.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+// A square block random accessible matrix with the same row and
+// column block structure. All cells are stored in the same single
+// array, so that its also accessible as a dense matrix of size
+// num_rows x num_cols.
+//
+// This class is NOT thread safe. Since all n^2 cells are stored,
+// GetCell never returns NULL for any (row_block_id, col_block_id)
+// pair.
+//
+// ReturnCell is a nop.
+class BlockRandomAccessDenseMatrix : public BlockRandomAccessMatrix {
+ public:
+ // blocks is a vector of block sizes. The resulting matrix has
+ // blocks.size() * blocks.size() cells.
+ explicit BlockRandomAccessDenseMatrix(const vector<int>& blocks);
+
+ // The destructor is not thread safe. It assumes that no one is
+ // modifying any cells when the matrix is being destroyed.
+ virtual ~BlockRandomAccessDenseMatrix();
+
+ // BlockRandomAccessMatrix interface.
+ virtual CellInfo* GetCell(int row_block_id,
+ int col_block_id,
+ int* row,
+ int* col,
+ int* row_stride,
+ int* col_stride);
+
+ // This is not a thread safe method, it assumes that no cell is
+ // locked.
+ virtual void SetZero();
+
+ // Since the matrix is square with the same row and column block
+ // structure, num_rows() = num_cols().
+ virtual int num_rows() const { return num_rows_; }
+ virtual int num_cols() const { return num_rows_; }
+
+ // The underlying matrix storing the cells.
+ const double* values() const { return values_.get(); }
+ double* mutable_values() { return values_.get(); }
+
+ private:
+ CellInfo cell_info_;
+ int num_rows_;
+ vector<int> block_layout_;
+ scoped_array<double> values_;
+
+ CERES_DISALLOW_COPY_AND_ASSIGN(BlockRandomAccessDenseMatrix);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DENSE_MATRIX_H_
diff --git a/internal/ceres/block_random_access_dense_matrix_test.cc b/internal/ceres/block_random_access_dense_matrix_test.cc
new file mode 100644
index 0000000..359eb93
--- /dev/null
+++ b/internal/ceres/block_random_access_dense_matrix_test.cc
@@ -0,0 +1,115 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include <vector>
+#include "gtest/gtest.h"
+#include "ceres/block_random_access_dense_matrix.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(BlockRandomAccessDenseMatrix, GetCell) {
+ vector<int> blocks;
+ blocks.push_back(3);
+ blocks.push_back(4);
+ blocks.push_back(5);
+ const int num_rows = 3 + 4 + 5;
+ BlockRandomAccessDenseMatrix m(blocks);
+ EXPECT_EQ(m.num_rows(), num_rows);
+ EXPECT_EQ(m.num_cols(), num_rows);
+
+ int row_idx = 0;
+ for (int i = 0; i < blocks.size(); ++i) {
+ int col_idx = 0;
+ for (int j = 0; j < blocks.size(); ++j) {
+ int row;
+ int col;
+ int row_stride;
+ int col_stride;
+ CellInfo* cell =
+ m.GetCell(i, j, &row, &col, &row_stride, &col_stride);
+
+ EXPECT_TRUE(cell != NULL);
+ EXPECT_EQ(row, row_idx);
+ EXPECT_EQ(col, col_idx);
+ EXPECT_EQ(row_stride, 3 + 4 + 5);
+ EXPECT_EQ(col_stride, 3 + 4 + 5);
+ col_idx += blocks[j];
+ }
+ row_idx += blocks[i];
+ }
+}
+
+TEST(BlockRandomAccessDenseMatrix, WriteCell) {
+ vector<int> blocks;
+ blocks.push_back(3);
+ blocks.push_back(4);
+ blocks.push_back(5);
+ const int num_rows = 3 + 4 + 5;
+
+ BlockRandomAccessDenseMatrix m(blocks);
+
+ // Fill the cell (i,j) with (i + 1) * (j + 1)
+ for (int i = 0; i < blocks.size(); ++i) {
+ for (int j = 0; j < blocks.size(); ++j) {
+ int row;
+ int col;
+ int row_stride;
+ int col_stride;
+ CellInfo* cell = m.GetCell(
+ i, j, &row, &col, &row_stride, &col_stride);
+ MatrixRef(cell->values, row_stride, col_stride).block(
+ row, col, blocks[i], blocks[j]) =
+ (i+1) * (j+1) * Matrix::Ones(blocks[i], blocks[j]);
+ }
+ }
+
+ // Check the values in the array are correct by going over the
+ // entries of each block manually.
+ int row_idx = 0;
+ for (int i = 0; i < blocks.size(); ++i) {
+ int col_idx = 0;
+ for (int j = 0; j < blocks.size(); ++j) {
+ // Check the values of this block.
+ for (int r = 0; r < blocks[i]; ++r) {
+ for (int c = 0; c < blocks[j]; ++c) {
+ int pos = row_idx * num_rows + col_idx;
+ EXPECT_EQ(m.values()[pos], (i + 1) * (j + 1));
+ }
+ }
+ col_idx += blocks[j];
+ }
+ row_idx += blocks[i];
+ }
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/block_random_access_matrix.cc b/internal/ceres/block_random_access_matrix.cc
new file mode 100644
index 0000000..58fe4a1
--- /dev/null
+++ b/internal/ceres/block_random_access_matrix.cc
@@ -0,0 +1,40 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/block_random_access_matrix.h"
+
+namespace ceres {
+namespace internal {
+
+BlockRandomAccessMatrix::~BlockRandomAccessMatrix() {
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/block_random_access_matrix.h b/internal/ceres/block_random_access_matrix.h
new file mode 100644
index 0000000..b76cb78
--- /dev/null
+++ b/internal/ceres/block_random_access_matrix.h
@@ -0,0 +1,132 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Interface for matrices that allow block based random access.
+
+#ifndef CERES_INTERNAL_BLOCK_RANDOM_ACCESS_MATRIX_H_
+#define CERES_INTERNAL_BLOCK_RANDOM_ACCESS_MATRIX_H_
+
+#include "ceres/mutex.h"
+
+namespace ceres {
+namespace internal {
+
+// A matrix implementing the BlockRandomAccessMatrix interface is a
+// matrix whose rows and columns are divided into blocks. For example
+// the matrix A:
+//
+// 3 4 5
+// A = 5 [c_11 c_12 c_13]
+// 4 [c_21 c_22 c_23]
+//
+// has row blocks of size 5 and 4, and column blocks of size 3, 4 and
+// 5. It has six cells corresponding to the six row-column block
+// combinations.
+//
+// BlockRandomAccessMatrix objects provide access to cells c_ij using
+// the GetCell method. when a cell is present, GetCell will return a
+// CellInfo object containing a pointer to an array which contains the
+// cell as a submatrix and a mutex that guards this submatrix. If the
+// user is accessing the matrix concurrently, it is his responsibility
+// to use the mutex to exclude other writers from writing to the cell
+// concurrently.
+//
+// There is no requirement that all cells be present, i.e. the matrix
+// itself can be block sparse. When a cell is not present, the GetCell
+// method will return a NULL pointer.
+//
+// There is no requirement about how the cells are stored beyond that
+// form a dense submatrix of a larger dense matrix. Like everywhere
+// else in Ceres, RowMajor storage assumed.
+//
+// Example usage:
+//
+// BlockRandomAccessMatrix* A = new BlockRandomAccessMatrixSubClass(...)
+//
+// int row, col, row_stride, col_stride;
+// CellInfo* cell = A->GetCell(row_block_id, col_block_id,
+// &row, &col,
+// &row_stride, &col_stride);
+//
+// if (cell != NULL) {
+// MatrixRef m(cell->values, row_stride, col_stride);
+// CeresMutexLock l(&cell->m);
+// m.block(row, col, row_block_size, col_block_size) = ...
+// }
+
+// Structure to carry a pointer to the array containing a cell and the
+// Mutex guarding it.
+struct CellInfo {
+ CellInfo()
+ : values(NULL) {
+ }
+
+ explicit CellInfo(double* ptr)
+ : values(ptr) {
+ }
+
+ double* values;
+ Mutex m;
+};
+
+class BlockRandomAccessMatrix {
+ public:
+ virtual ~BlockRandomAccessMatrix();
+
+ // If the cell (row_block_id, col_block_id) is present, then return
+ // a CellInfo with a pointer to the dense matrix containing it,
+ // otherwise return NULL. The dense matrix containing this cell has
+ // size row_stride, col_stride and the cell is located at position
+ // (row, col) within this matrix.
+ //
+ // The size of the cell is row_block_size x col_block_size is
+ // assumed known to the caller. row_block_size less than or equal to
+ // row_stride and col_block_size is upper bounded by col_stride.
+ virtual CellInfo* GetCell(int row_block_id,
+ int col_block_id,
+ int* row,
+ int* col,
+ int* row_stride,
+ int* col_stride) = 0;
+
+ // Zero out the values of the array. The structure of the matrix
+ // (size and sparsity) is preserved.
+ virtual void SetZero() = 0;
+
+ // Number of scalar rows and columns in the matrix, i.e the sum of
+ // all row blocks and column block sizes respectively.
+ virtual int num_rows() const = 0;
+ virtual int num_cols() const = 0;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_BLOCK_RANDOM_ACCESS_MATRIX_H_
diff --git a/internal/ceres/block_random_access_sparse_matrix.cc b/internal/ceres/block_random_access_sparse_matrix.cc
new file mode 100644
index 0000000..f789436
--- /dev/null
+++ b/internal/ceres/block_random_access_sparse_matrix.cc
@@ -0,0 +1,158 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/block_random_access_sparse_matrix.h"
+
+#include <algorithm>
+#include <set>
+#include <utility>
+#include <vector>
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/mutex.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+BlockRandomAccessSparseMatrix::BlockRandomAccessSparseMatrix(
+ const vector<int>& blocks,
+ const set<pair<int, int> >& block_pairs)
+ : kMaxRowBlocks(10 * 1000 * 1000),
+ blocks_(blocks) {
+ CHECK_LT(blocks.size(), kMaxRowBlocks);
+
+ // Build the row/column layout vector and count the number of scalar
+ // rows/columns.
+ int num_cols = 0;
+ vector<int> col_layout;
+ for (int i = 0; i < blocks_.size(); ++i) {
+ col_layout.push_back(num_cols);
+ num_cols += blocks_[i];
+ }
+
+ // Count the number of scalar non-zero entries and build the layout
+ // object for looking into the values array of the
+ // TripletSparseMatrix.
+ int num_nonzeros = 0;
+ for (set<pair<int, int> >::const_iterator it = block_pairs.begin();
+ it != block_pairs.end();
+ ++it) {
+ const int row_block_size = blocks_[it->first];
+ const int col_block_size = blocks_[it->second];
+ num_nonzeros += row_block_size * col_block_size;
+ }
+
+ VLOG(1) << "Matrix Size [" << num_cols
+ << "," << num_cols
+ << "] " << num_nonzeros;
+
+ tsm_.reset(new TripletSparseMatrix(num_cols, num_cols, num_nonzeros));
+ tsm_->set_num_nonzeros(num_nonzeros);
+ int* rows = tsm_->mutable_rows();
+ int* cols = tsm_->mutable_cols();
+ double* values = tsm_->mutable_values();
+
+ int pos = 0;
+ for (set<pair<int, int> >::const_iterator it = block_pairs.begin();
+ it != block_pairs.end();
+ ++it) {
+ const int row_block_size = blocks_[it->first];
+ const int col_block_size = blocks_[it->second];
+ layout_[IntPairToLong(it->first, it->second)] =
+ new CellInfo(values + pos);
+ pos += row_block_size * col_block_size;
+ }
+
+ // Fill the sparsity pattern of the underlying matrix.
+ for (set<pair<int, int> >::const_iterator it = block_pairs.begin();
+ it != block_pairs.end();
+ ++it) {
+ const int row_block_id = it->first;
+ const int col_block_id = it->second;
+ const int row_block_size = blocks_[row_block_id];
+ const int col_block_size = blocks_[col_block_id];
+ int pos =
+ layout_[IntPairToLong(row_block_id, col_block_id)]->values - values;
+ for (int r = 0; r < row_block_size; ++r) {
+ for (int c = 0; c < col_block_size; ++c, ++pos) {
+ rows[pos] = col_layout[row_block_id] + r;
+ cols[pos] = col_layout[col_block_id] + c;
+ values[pos] = 1.0;
+ DCHECK_LT(rows[pos], tsm_->num_rows());
+ DCHECK_LT(cols[pos], tsm_->num_rows());
+ }
+ }
+ }
+}
+
+// Assume that the user does not hold any locks on any cell blocks
+// when they are calling SetZero.
+BlockRandomAccessSparseMatrix::~BlockRandomAccessSparseMatrix() {
+ for (LayoutType::iterator it = layout_.begin();
+ it != layout_.end();
+ ++it) {
+ delete it->second;
+ }
+}
+
+CellInfo* BlockRandomAccessSparseMatrix::GetCell(int row_block_id,
+ int col_block_id,
+ int* row,
+ int* col,
+ int* row_stride,
+ int* col_stride) {
+ const LayoutType::iterator it =
+ layout_.find(IntPairToLong(row_block_id, col_block_id));
+ if (it == layout_.end()) {
+ return NULL;
+ }
+
+ // Each cell is stored contiguously as its own little dense matrix.
+ *row = 0;
+ *col = 0;
+ *row_stride = blocks_[row_block_id];
+ *col_stride = blocks_[col_block_id];
+ return it->second;
+}
+
+// Assume that the user does not hold any locks on any cell blocks
+// when they are calling SetZero.
+void BlockRandomAccessSparseMatrix::SetZero() {
+ if (tsm_->num_nonzeros()) {
+ VectorRef(tsm_->mutable_values(),
+ tsm_->num_nonzeros()).setZero();
+ }
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/block_random_access_sparse_matrix.h b/internal/ceres/block_random_access_sparse_matrix.h
new file mode 100644
index 0000000..48a0043
--- /dev/null
+++ b/internal/ceres/block_random_access_sparse_matrix.h
@@ -0,0 +1,111 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_BLOCK_RANDOM_ACCESS_SPARSE_MATRIX_H_
+#define CERES_INTERNAL_BLOCK_RANDOM_ACCESS_SPARSE_MATRIX_H_
+
+#include <set>
+#include <vector>
+#include <utility>
+#include "ceres/mutex.h"
+#include "ceres/block_random_access_matrix.h"
+#include "ceres/collections_port.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/integral_types.h"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+// A threaf safe square block sparse implementation of
+// BlockRandomAccessMatrix. Internally a TripletSparseMatrix is used
+// for doing the actual storage. This class augments this matrix with
+// an unordered_map that allows random read/write access.
+class BlockRandomAccessSparseMatrix : public BlockRandomAccessMatrix {
+ public:
+ // blocks is an array of block sizes. block_pairs is a set of
+ // <row_block_id, col_block_id> pairs to identify the non-zero cells
+ // of this matrix.
+ BlockRandomAccessSparseMatrix(const vector<int>& blocks,
+ const set<pair<int, int> >& block_pairs);
+
+ // The destructor is not thread safe. It assumes that no one is
+ // modifying any cells when the matrix is being destroyed.
+ virtual ~BlockRandomAccessSparseMatrix();
+
+ // BlockRandomAccessMatrix Interface.
+ virtual CellInfo* GetCell(int row_block_id,
+ int col_block_id,
+ int* row,
+ int* col,
+ int* row_stride,
+ int* col_stride);
+
+ // This is not a thread safe method, it assumes that no cell is
+ // locked.
+ virtual void SetZero();
+ virtual bool IsThreadSafe() const { return true; }
+
+ // Since the matrix is square, num_rows() == num_cols().
+ virtual int num_rows() const { return tsm_->num_rows(); }
+ virtual int num_cols() const { return tsm_->num_cols(); }
+
+ // Access to the underlying matrix object.
+ const TripletSparseMatrix* matrix() const { return tsm_.get(); }
+ TripletSparseMatrix* mutable_matrix() { return tsm_.get(); }
+
+ private:
+ int64 IntPairToLong(int a, int b) {
+ return a * kMaxRowBlocks + b;
+ }
+
+ const int64 kMaxRowBlocks;
+ // row/column block sizes.
+ const vector<int> blocks_;
+
+ // A mapping from <row_block_id, col_block_id> to the position in
+ // the values array of tsm_ where the block is stored.
+ typedef HashMap<long int, CellInfo* > LayoutType;
+ LayoutType layout_;
+
+ // The underlying matrix object which actually stores the cells.
+ scoped_ptr<TripletSparseMatrix> tsm_;
+
+ friend class BlockRandomAccessSparseMatrixTest;
+ CERES_DISALLOW_COPY_AND_ASSIGN(BlockRandomAccessSparseMatrix);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_BLOCK_RANDOM_ACCESS_SPARSE_MATRIX_H_
diff --git a/internal/ceres/block_random_access_sparse_matrix_test.cc b/internal/ceres/block_random_access_sparse_matrix_test.cc
new file mode 100644
index 0000000..b2396a1
--- /dev/null
+++ b/internal/ceres/block_random_access_sparse_matrix_test.cc
@@ -0,0 +1,150 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include <limits>
+#include <vector>
+#include "ceres/block_random_access_sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(BlockRandomAccessSparseMatrix, GetCell) {
+ vector<int> blocks;
+ blocks.push_back(3);
+ blocks.push_back(4);
+ blocks.push_back(5);
+ const int num_rows = 3 + 4 + 5;
+
+ set< pair<int, int> > block_pairs;
+ int num_nonzeros = 0;
+ block_pairs.insert(make_pair(0, 0));
+ num_nonzeros += blocks[0] * blocks[0];
+
+ block_pairs.insert(make_pair(1, 1));
+ num_nonzeros += blocks[1] * blocks[1];
+
+ block_pairs.insert(make_pair(1, 2));
+ num_nonzeros += blocks[1] * blocks[2];
+
+ block_pairs.insert(make_pair(2, 0));
+ num_nonzeros += blocks[2] * blocks[0];
+
+ BlockRandomAccessSparseMatrix m(blocks, block_pairs);
+ EXPECT_EQ(m.num_rows(), num_rows);
+ EXPECT_EQ(m.num_cols(), num_rows);
+
+ for (set<pair<int, int> >::const_iterator it = block_pairs.begin();
+ it != block_pairs.end();
+ ++it) {
+ const int row_block_id = it->first;
+ const int col_block_id = it->second;
+ int row;
+ int col;
+ int row_stride;
+ int col_stride;
+ CellInfo* cell = m.GetCell(row_block_id, col_block_id,
+ &row, &col,
+ &row_stride, &col_stride);
+ EXPECT_TRUE(cell != NULL);
+ EXPECT_EQ(row, 0);
+ EXPECT_EQ(col, 0);
+ EXPECT_EQ(row_stride, blocks[row_block_id]);
+ EXPECT_EQ(col_stride, blocks[col_block_id]);
+
+ // Write into the block
+ MatrixRef(cell->values, row_stride, col_stride).block(
+ row, col, blocks[row_block_id], blocks[col_block_id]) =
+ (row_block_id + 1) * (col_block_id +1) *
+ Matrix::Ones(blocks[row_block_id], blocks[col_block_id]);
+ }
+
+ const TripletSparseMatrix* tsm = m.matrix();
+ EXPECT_EQ(tsm->num_nonzeros(), num_nonzeros);
+ EXPECT_EQ(tsm->max_num_nonzeros(), num_nonzeros);
+
+ Matrix dense;
+ tsm->ToDenseMatrix(&dense);
+
+ double kTolerance = 1e-14;
+
+ // (0,0)
+ EXPECT_NEAR((dense.block(0, 0, 3, 3) - Matrix::Ones(3, 3)).norm(),
+ 0.0,
+ kTolerance);
+ // (1,1)
+ EXPECT_NEAR((dense.block(3, 3, 4, 4) - 2 * 2 * Matrix::Ones(4, 4)).norm(),
+ 0.0,
+ kTolerance);
+ // (1,2)
+ EXPECT_NEAR((dense.block(3, 3 + 4, 4, 5) - 2 * 3 * Matrix::Ones(4, 5)).norm(),
+ 0.0,
+ kTolerance);
+ // (2,0)
+ EXPECT_NEAR((dense.block(3 + 4, 0, 5, 3) - 3 * 1 * Matrix::Ones(5, 3)).norm(),
+ 0.0,
+ kTolerance);
+
+ // There is nothing else in the matrix besides these four blocks.
+ EXPECT_NEAR(dense.norm(), sqrt(9. + 16. * 16. + 36. * 20. + 9. * 15.),
+ kTolerance);
+}
+
+// IntPairToLong is private, thus this fixture is needed to access and
+// test it.
+class BlockRandomAccessSparseMatrixTest : public ::testing::Test {
+ public:
+ virtual void SetUp() {
+ vector<int> blocks;
+ blocks.push_back(1);
+ set< pair<int, int> > block_pairs;
+ block_pairs.insert(make_pair(0, 0));
+ m_.reset(new BlockRandomAccessSparseMatrix(blocks, block_pairs));
+ }
+
+ void CheckIntPair(int a, int b) {
+ int64 value = m_->IntPairToLong(a, b);
+ EXPECT_GT(value, 0) << "Overflow a = " << a << " b = " << b;
+ EXPECT_GT(value, a) << "Overflow a = " << a << " b = " << b;
+ EXPECT_GT(value, b) << "Overflow a = " << a << " b = " << b;
+ }
+
+ private:
+ scoped_ptr<BlockRandomAccessSparseMatrix> m_;
+};
+
+TEST_F(BlockRandomAccessSparseMatrixTest, IntPairToLongOverflow) {
+ CheckIntPair(numeric_limits<int>::max(), numeric_limits<int>::max());
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/block_sparse_matrix.cc b/internal/ceres/block_sparse_matrix.cc
new file mode 100644
index 0000000..dbe5ec9
--- /dev/null
+++ b/internal/ceres/block_sparse_matrix.cc
@@ -0,0 +1,286 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/block_sparse_matrix.h"
+
+#include <cstddef>
+#include <algorithm>
+#include <vector>
+#include "ceres/block_structure.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/matrix_proto.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+BlockSparseMatrix::~BlockSparseMatrix() {}
+
+BlockSparseMatrix::BlockSparseMatrix(
+ CompressedRowBlockStructure* block_structure)
+ : num_rows_(0),
+ num_cols_(0),
+ num_nonzeros_(0),
+ values_(NULL),
+ block_structure_(block_structure) {
+ CHECK_NOTNULL(block_structure_.get());
+
+ // Count the number of columns in the matrix.
+ for (int i = 0; i < block_structure_->cols.size(); ++i) {
+ num_cols_ += block_structure_->cols[i].size;
+ }
+
+ // Count the number of non-zero entries and the number of rows in
+ // the matrix.
+ for (int i = 0; i < block_structure_->rows.size(); ++i) {
+ int row_block_size = block_structure_->rows[i].block.size;
+ num_rows_ += row_block_size;
+
+ const vector<Cell>& cells = block_structure_->rows[i].cells;
+ for (int j = 0; j < cells.size(); ++j) {
+ int col_block_id = cells[j].block_id;
+ int col_block_size = block_structure_->cols[col_block_id].size;
+ num_nonzeros_ += col_block_size * row_block_size;
+ }
+ }
+
+ CHECK_GE(num_rows_, 0);
+ CHECK_GE(num_cols_, 0);
+ CHECK_GE(num_nonzeros_, 0);
+ VLOG(2) << "Allocating values array with "
+ << num_nonzeros_ * sizeof(double) << " bytes."; // NOLINT
+ values_.reset(new double[num_nonzeros_]);
+ CHECK_NOTNULL(values_.get());
+}
+
+#ifndef CERES_NO_PROTOCOL_BUFFERS
+BlockSparseMatrix::BlockSparseMatrix(const SparseMatrixProto& outer_proto) {
+ CHECK(outer_proto.has_block_matrix());
+
+ const BlockSparseMatrixProto& proto = outer_proto.block_matrix();
+ CHECK(proto.has_num_rows());
+ CHECK(proto.has_num_cols());
+ CHECK_EQ(proto.num_nonzeros(), proto.values_size());
+
+ num_rows_ = proto.num_rows();
+ num_cols_ = proto.num_cols();
+ num_nonzeros_ = proto.num_nonzeros();
+
+ // Copy out the values into *this.
+ values_.reset(new double[num_nonzeros_]);
+ for (int i = 0; i < proto.num_nonzeros(); ++i) {
+ values_[i] = proto.values(i);
+ }
+
+ // Create the block structure according to the proto.
+ block_structure_.reset(new CompressedRowBlockStructure);
+ ProtoToBlockStructure(proto.block_structure(), block_structure_.get());
+}
+#endif
+
+void BlockSparseMatrix::SetZero() {
+ fill(values_.get(), values_.get() + num_nonzeros_, 0.0);
+}
+
+void BlockSparseMatrix::RightMultiply(const double* x, double* y) const {
+ CHECK_NOTNULL(x);
+ CHECK_NOTNULL(y);
+
+ for (int i = 0; i < block_structure_->rows.size(); ++i) {
+ int row_block_pos = block_structure_->rows[i].block.position;
+ int row_block_size = block_structure_->rows[i].block.size;
+ VectorRef yref(y + row_block_pos, row_block_size);
+ const vector<Cell>& cells = block_structure_->rows[i].cells;
+ for (int j = 0; j < cells.size(); ++j) {
+ int col_block_id = cells[j].block_id;
+ int col_block_size = block_structure_->cols[col_block_id].size;
+ int col_block_pos = block_structure_->cols[col_block_id].position;
+ ConstVectorRef xref(x + col_block_pos, col_block_size);
+ MatrixRef m(values_.get() + cells[j].position,
+ row_block_size, col_block_size);
+ yref += m.lazyProduct(xref);
+ }
+ }
+}
+
+void BlockSparseMatrix::LeftMultiply(const double* x, double* y) const {
+ CHECK_NOTNULL(x);
+ CHECK_NOTNULL(y);
+
+ for (int i = 0; i < block_structure_->rows.size(); ++i) {
+ int row_block_pos = block_structure_->rows[i].block.position;
+ int row_block_size = block_structure_->rows[i].block.size;
+ const ConstVectorRef xref(x + row_block_pos, row_block_size);
+ const vector<Cell>& cells = block_structure_->rows[i].cells;
+ for (int j = 0; j < cells.size(); ++j) {
+ int col_block_id = cells[j].block_id;
+ int col_block_size = block_structure_->cols[col_block_id].size;
+ int col_block_pos = block_structure_->cols[col_block_id].position;
+ VectorRef yref(y + col_block_pos, col_block_size);
+ MatrixRef m(values_.get() + cells[j].position,
+ row_block_size, col_block_size);
+ yref += m.transpose().lazyProduct(xref);
+ }
+ }
+}
+
+void BlockSparseMatrix::SquaredColumnNorm(double* x) const {
+ CHECK_NOTNULL(x);
+ VectorRef(x, num_cols_).setZero();
+ for (int i = 0; i < block_structure_->rows.size(); ++i) {
+ int row_block_size = block_structure_->rows[i].block.size;
+ const vector<Cell>& cells = block_structure_->rows[i].cells;
+ for (int j = 0; j < cells.size(); ++j) {
+ int col_block_id = cells[j].block_id;
+ int col_block_size = block_structure_->cols[col_block_id].size;
+ int col_block_pos = block_structure_->cols[col_block_id].position;
+ const MatrixRef m(values_.get() + cells[j].position,
+ row_block_size, col_block_size);
+ VectorRef(x + col_block_pos, col_block_size) += m.colwise().squaredNorm();
+ }
+ }
+}
+
+void BlockSparseMatrix::ScaleColumns(const double* scale) {
+ CHECK_NOTNULL(scale);
+
+ for (int i = 0; i < block_structure_->rows.size(); ++i) {
+ int row_block_size = block_structure_->rows[i].block.size;
+ const vector<Cell>& cells = block_structure_->rows[i].cells;
+ for (int j = 0; j < cells.size(); ++j) {
+ int col_block_id = cells[j].block_id;
+ int col_block_size = block_structure_->cols[col_block_id].size;
+ int col_block_pos = block_structure_->cols[col_block_id].position;
+ MatrixRef m(values_.get() + cells[j].position,
+ row_block_size, col_block_size);
+ m *= ConstVectorRef(scale + col_block_pos, col_block_size).asDiagonal();
+ }
+ }
+}
+
+void BlockSparseMatrix::ToDenseMatrix(Matrix* dense_matrix) const {
+ CHECK_NOTNULL(dense_matrix);
+
+ dense_matrix->resize(num_rows_, num_cols_);
+ dense_matrix->setZero();
+ Matrix& m = *dense_matrix;
+
+ for (int i = 0; i < block_structure_->rows.size(); ++i) {
+ int row_block_pos = block_structure_->rows[i].block.position;
+ int row_block_size = block_structure_->rows[i].block.size;
+ const vector<Cell>& cells = block_structure_->rows[i].cells;
+ for (int j = 0; j < cells.size(); ++j) {
+ int col_block_id = cells[j].block_id;
+ int col_block_size = block_structure_->cols[col_block_id].size;
+ int col_block_pos = block_structure_->cols[col_block_id].position;
+ int jac_pos = cells[j].position;
+ m.block(row_block_pos, col_block_pos, row_block_size, col_block_size)
+ += MatrixRef(values_.get() + jac_pos, row_block_size, col_block_size);
+ }
+ }
+}
+
+void BlockSparseMatrix::ToTripletSparseMatrix(
+ TripletSparseMatrix* matrix) const {
+ CHECK_NOTNULL(matrix);
+
+ matrix->Reserve(num_nonzeros_);
+ matrix->Resize(num_rows_, num_cols_);
+ matrix->SetZero();
+
+ for (int i = 0; i < block_structure_->rows.size(); ++i) {
+ int row_block_pos = block_structure_->rows[i].block.position;
+ int row_block_size = block_structure_->rows[i].block.size;
+ const vector<Cell>& cells = block_structure_->rows[i].cells;
+ for (int j = 0; j < cells.size(); ++j) {
+ int col_block_id = cells[j].block_id;
+ int col_block_size = block_structure_->cols[col_block_id].size;
+ int col_block_pos = block_structure_->cols[col_block_id].position;
+ int jac_pos = cells[j].position;
+ for (int r = 0; r < row_block_size; ++r) {
+ for (int c = 0; c < col_block_size; ++c, ++jac_pos) {
+ matrix->mutable_rows()[jac_pos] = row_block_pos + r;
+ matrix->mutable_cols()[jac_pos] = col_block_pos + c;
+ matrix->mutable_values()[jac_pos] = values_[jac_pos];
+ }
+ }
+ }
+ }
+ matrix->set_num_nonzeros(num_nonzeros_);
+}
+
+// Return a pointer to the block structure. We continue to hold
+// ownership of the object though.
+const CompressedRowBlockStructure* BlockSparseMatrix::block_structure()
+ const {
+ return block_structure_.get();
+}
+
+#ifndef CERES_NO_PROTOCOL_BUFFERS
+void BlockSparseMatrix::ToProto(SparseMatrixProto* outer_proto) const {
+ outer_proto->Clear();
+
+ BlockSparseMatrixProto* proto = outer_proto->mutable_block_matrix();
+ proto->set_num_rows(num_rows_);
+ proto->set_num_cols(num_cols_);
+ proto->set_num_nonzeros(num_nonzeros_);
+ for (int i = 0; i < num_nonzeros_; ++i) {
+ proto->add_values(values_[i]);
+ }
+ BlockStructureToProto(*block_structure_, proto->mutable_block_structure());
+}
+#endif
+
+void BlockSparseMatrix::ToTextFile(FILE* file) const {
+ CHECK_NOTNULL(file);
+ for (int i = 0; i < block_structure_->rows.size(); ++i) {
+ const int row_block_pos = block_structure_->rows[i].block.position;
+ const int row_block_size = block_structure_->rows[i].block.size;
+ const vector<Cell>& cells = block_structure_->rows[i].cells;
+ for (int j = 0; j < cells.size(); ++j) {
+ const int col_block_id = cells[j].block_id;
+ const int col_block_size = block_structure_->cols[col_block_id].size;
+ const int col_block_pos = block_structure_->cols[col_block_id].position;
+ int jac_pos = cells[j].position;
+ for (int r = 0; r < row_block_size; ++r) {
+ for (int c = 0; c < col_block_size; ++c) {
+ fprintf(file, "% 10d % 10d %17f\n",
+ row_block_pos + r,
+ col_block_pos + c,
+ values_[jac_pos++]);
+ }
+ }
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/block_sparse_matrix.h b/internal/ceres/block_sparse_matrix.h
new file mode 100644
index 0000000..513d398
--- /dev/null
+++ b/internal/ceres/block_sparse_matrix.h
@@ -0,0 +1,144 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Implementation of the SparseMatrix interface for block sparse
+// matrices.
+
+#ifndef CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_
+#define CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_
+
+#include "ceres/block_structure.h"
+#include "ceres/sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+class SparseMatrixProto;
+class TripletSparseMatrix;
+
+// A further extension of the SparseMatrix interface to support block-oriented
+// matrices. The key addition is the RowBlockValues() accessor, which enables
+// the lazy block sparse matrix implementation.
+class BlockSparseMatrixBase : public SparseMatrix {
+ public:
+ BlockSparseMatrixBase() {}
+ virtual ~BlockSparseMatrixBase() {}
+
+ // Convert this matrix into a triplet sparse matrix.
+ virtual void ToTripletSparseMatrix(TripletSparseMatrix* matrix) const = 0;
+
+ // Returns a pointer to the block structure. Does not transfer
+ // ownership.
+ virtual const CompressedRowBlockStructure* block_structure() const = 0;
+
+ // Returns a pointer to a row of the matrix. The returned array is only valid
+ // until the next call to RowBlockValues. The caller does not own the result.
+ //
+ // The returned array is laid out such that cells on the specified row are
+ // contiguous in the returned array, though neighbouring cells in row order
+ // may not be contiguous in the row values. The cell values for cell
+ // (row_block, cell_block) are found at offset
+ //
+ // block_structure()->rows[row_block].cells[cell_block].position
+ //
+ virtual const double* RowBlockValues(int row_block_index) const = 0;
+
+ private:
+ CERES_DISALLOW_COPY_AND_ASSIGN(BlockSparseMatrixBase);
+};
+
+// This class implements the SparseMatrix interface for storing and
+// manipulating block sparse matrices. The block structure is stored
+// in the CompressedRowBlockStructure object and one is needed to
+// initialize the matrix. For details on how the blocks structure of
+// the matrix is stored please see the documentation
+//
+// internal/ceres/block_structure.h
+//
+class BlockSparseMatrix : public BlockSparseMatrixBase {
+ public:
+ // Construct a block sparse matrix with a fully initialized
+ // CompressedRowBlockStructure objected. The matrix takes over
+ // ownership of this object and destroys it upon destruction.
+ //
+ // TODO(sameeragarwal): Add a function which will validate legal
+ // CompressedRowBlockStructure objects.
+ explicit BlockSparseMatrix(CompressedRowBlockStructure* block_structure);
+
+ // Construct a block sparse matrix from a protocol buffer.
+#ifndef CERES_NO_PROTOCOL_BUFFERS
+ explicit BlockSparseMatrix(const SparseMatrixProto& proto);
+#endif
+
+ BlockSparseMatrix();
+ virtual ~BlockSparseMatrix();
+
+ // Implementation of SparseMatrix interface.
+ virtual void SetZero();
+ virtual void RightMultiply(const double* x, double* y) const;
+ virtual void LeftMultiply(const double* x, double* y) const;
+ virtual void SquaredColumnNorm(double* x) const;
+ virtual void ScaleColumns(const double* scale);
+ virtual void ToDenseMatrix(Matrix* dense_matrix) const;
+#ifndef CERES_NO_PROTOCOL_BUFFERS
+ virtual void ToProto(SparseMatrixProto* proto) const;
+#endif
+ virtual void ToTextFile(FILE* file) const;
+
+ virtual int num_rows() const { return num_rows_; }
+ virtual int num_cols() const { return num_cols_; }
+ virtual int num_nonzeros() const { return num_nonzeros_; }
+ virtual const double* values() const { return values_.get(); }
+ virtual double* mutable_values() { return values_.get(); }
+
+ // Implementation of BlockSparseMatrixBase interface.
+ virtual void ToTripletSparseMatrix(TripletSparseMatrix* matrix) const;
+ virtual const CompressedRowBlockStructure* block_structure() const;
+ virtual const double* RowBlockValues(int row_block_index) const {
+ return values_.get();
+ }
+
+ private:
+ int num_rows_;
+ int num_cols_;
+ int max_num_nonzeros_;
+ int num_nonzeros_;
+ scoped_array<double> values_;
+ scoped_ptr<CompressedRowBlockStructure> block_structure_;
+ CERES_DISALLOW_COPY_AND_ASSIGN(BlockSparseMatrix);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_
diff --git a/internal/ceres/block_sparse_matrix_test.cc b/internal/ceres/block_sparse_matrix_test.cc
new file mode 100644
index 0000000..457a2fb
--- /dev/null
+++ b/internal/ceres/block_sparse_matrix_test.cc
@@ -0,0 +1,135 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/block_sparse_matrix.h"
+
+#include <string>
+#include "ceres/casts.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/matrix_proto.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+class BlockSparseMatrixTest : public ::testing::Test {
+ protected :
+ virtual void SetUp() {
+ scoped_ptr<LinearLeastSquaresProblem> problem(
+ CreateLinearLeastSquaresProblemFromId(2));
+ CHECK_NOTNULL(problem.get());
+ A_.reset(down_cast<BlockSparseMatrix*>(problem->A.release()));
+
+ problem.reset(CreateLinearLeastSquaresProblemFromId(1));
+ CHECK_NOTNULL(problem.get());
+ B_.reset(down_cast<TripletSparseMatrix*>(problem->A.release()));
+
+ CHECK_EQ(A_->num_rows(), B_->num_rows());
+ CHECK_EQ(A_->num_cols(), B_->num_cols());
+ CHECK_EQ(A_->num_nonzeros(), B_->num_nonzeros());
+ }
+
+ scoped_ptr<BlockSparseMatrix> A_;
+ scoped_ptr<TripletSparseMatrix> B_;
+};
+
+TEST_F(BlockSparseMatrixTest, SetZeroTest) {
+ A_->SetZero();
+ EXPECT_EQ(13, A_->num_nonzeros());
+}
+
+TEST_F(BlockSparseMatrixTest, RightMultiplyTest) {
+ Vector y_a = Vector::Zero(A_->num_rows());
+ Vector y_b = Vector::Zero(A_->num_rows());
+ for (int i = 0; i < A_->num_cols(); ++i) {
+ Vector x = Vector::Zero(A_->num_cols());
+ x[i] = 1.0;
+ A_->RightMultiply(x.data(), y_a.data());
+ B_->RightMultiply(x.data(), y_b.data());
+ EXPECT_LT((y_a - y_b).norm(), 1e-12);
+ }
+}
+
+TEST_F(BlockSparseMatrixTest, LeftMultiplyTest) {
+ Vector y_a = Vector::Zero(A_->num_cols());
+ Vector y_b = Vector::Zero(A_->num_cols());
+ for (int i = 0; i < A_->num_rows(); ++i) {
+ Vector x = Vector::Zero(A_->num_rows());
+ x[i] = 1.0;
+ A_->LeftMultiply(x.data(), y_a.data());
+ B_->LeftMultiply(x.data(), y_b.data());
+ EXPECT_LT((y_a - y_b).norm(), 1e-12);
+ }
+}
+
+TEST_F(BlockSparseMatrixTest, SquaredColumnNormTest) {
+ Vector y_a = Vector::Zero(A_->num_cols());
+ Vector y_b = Vector::Zero(A_->num_cols());
+ A_->SquaredColumnNorm(y_a.data());
+ B_->SquaredColumnNorm(y_b.data());
+ EXPECT_LT((y_a - y_b).norm(), 1e-12);
+}
+
+TEST_F(BlockSparseMatrixTest, ToDenseMatrixTest) {
+ Matrix m_a;
+ Matrix m_b;
+ A_->ToDenseMatrix(&m_a);
+ B_->ToDenseMatrix(&m_b);
+ EXPECT_LT((m_a - m_b).norm(), 1e-12);
+}
+
+#ifndef CERES_NO_PROTOCOL_BUFFERS
+TEST_F(BlockSparseMatrixTest, Serialization) {
+ // Roundtrip through serialization and check for equality.
+ SparseMatrixProto proto;
+ A_->ToProto(&proto);
+
+ LOG(INFO) << proto.DebugString();
+
+ BlockSparseMatrix A2(proto);
+
+ Matrix m_a;
+ Matrix m_b;
+ A_->ToDenseMatrix(&m_a);
+ A2.ToDenseMatrix(&m_b);
+
+ LOG(INFO) << "\n" << m_a;
+ LOG(INFO) << "\n" << m_b;
+
+ EXPECT_LT((m_a - m_b).norm(), 1e-12);
+}
+#endif
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/block_structure.cc b/internal/ceres/block_structure.cc
new file mode 100644
index 0000000..e611311
--- /dev/null
+++ b/internal/ceres/block_structure.cc
@@ -0,0 +1,92 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/block_structure.h"
+#include "ceres/matrix_proto.h"
+
+namespace ceres {
+namespace internal {
+
+bool CellLessThan(const Cell& lhs, const Cell& rhs) {
+ return (lhs.block_id < rhs.block_id);
+}
+
+#ifndef CERES_NO_PROTOCOL_BUFFERS
+void ProtoToBlockStructure(const BlockStructureProto &proto,
+ CompressedRowBlockStructure *block_structure) {
+ // Decode the column blocks.
+ block_structure->cols.resize(proto.cols_size());
+ for (int i = 0; i < proto.cols_size(); ++i) {
+ block_structure->cols[i].size = proto.cols(i).size();
+ block_structure->cols[i].position =
+ proto.cols(i).position();
+ }
+ // Decode the row structure.
+ block_structure->rows.resize(proto.rows_size());
+ for (int i = 0; i < proto.rows_size(); ++i) {
+ const CompressedRowProto &row = proto.rows(i);
+ block_structure->rows[i].block.size = row.block().size();
+ block_structure->rows[i].block.position = row.block().position();
+
+ // Copy the cells within the row.
+ block_structure->rows[i].cells.resize(row.cells_size());
+ for (int j = 0; j < row.cells_size(); ++j) {
+ const CellProto &cell = row.cells(j);
+ block_structure->rows[i].cells[j].block_id = cell.block_id();
+ block_structure->rows[i].cells[j].position = cell.position();
+ }
+ }
+}
+
+void BlockStructureToProto(const CompressedRowBlockStructure &block_structure,
+ BlockStructureProto *proto) {
+ // Encode the column blocks.
+ for (int i = 0; i < block_structure.cols.size(); ++i) {
+ BlockProto *block = proto->add_cols();
+ block->set_size(block_structure.cols[i].size);
+ block->set_position(block_structure.cols[i].position);
+ }
+ // Encode the row structure.
+ for (int i = 0; i < block_structure.rows.size(); ++i) {
+ CompressedRowProto *row = proto->add_rows();
+ BlockProto *block = row->mutable_block();
+ block->set_size(block_structure.rows[i].block.size);
+ block->set_position(block_structure.rows[i].block.position);
+ for (int j = 0; j < block_structure.rows[i].cells.size(); ++j) {
+ CellProto *cell = row->add_cells();
+ cell->set_block_id(block_structure.rows[i].cells[j].block_id);
+ cell->set_position(block_structure.rows[i].cells[j].position);
+ }
+ }
+}
+#endif
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/block_structure.h b/internal/ceres/block_structure.h
new file mode 100644
index 0000000..f509067
--- /dev/null
+++ b/internal/ceres/block_structure.h
@@ -0,0 +1,105 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Block structure objects are used to carry information about the
+// dense block structure of sparse matrices. The BlockSparseMatrix
+// object uses the BlockStructure objects to keep track of the matrix
+// structure and operate upon it. This allows us to use more cache
+// friendly block oriented linear algebra operations on the matrix
+// instead of accessing it one scalar entry at a time.
+
+#ifndef CERES_INTERNAL_BLOCK_STRUCTURE_H_
+#define CERES_INTERNAL_BLOCK_STRUCTURE_H_
+
+#include <vector>
+#include "ceres/internal/port.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+class BlockStructureProto;
+
+typedef int16 BlockSize;
+
+struct Block {
+ Block() : size(-1), position(-1) {}
+ Block(int size_, int position_) : size(size_), position(position_) {}
+
+ BlockSize size;
+ int position; // Position along the row/column.
+};
+
+struct Cell {
+ Cell() : block_id(-1), position(-1) {}
+ Cell(int block_id_, int position_)
+ : block_id(block_id_), position(position_) {}
+
+ // Column or row block id as the case maybe.
+ int block_id;
+ // Where in the values array of the jacobian is this cell located.
+ int position;
+};
+
+// Order cell by their block_id;
+bool CellLessThan(const Cell& lhs, const Cell& rhs);
+
+struct CompressedList {
+ Block block;
+ vector<Cell> cells;
+};
+
+typedef CompressedList CompressedRow;
+typedef CompressedList CompressedColumn;
+
+struct CompressedRowBlockStructure {
+ vector<Block> cols;
+ vector<CompressedRow> rows;
+};
+
+struct CompressedColumnBlockStructure {
+ vector<Block> rows;
+ vector<CompressedColumn> cols;
+};
+
+// Deserialize the given block structure proto to the given block structure.
+// Destroys previous contents of block_structure.
+void ProtoToBlockStructure(const BlockStructureProto &proto,
+ CompressedRowBlockStructure *block_structure);
+
+// Serialize the given block structure to the given proto. Destroys previous
+// contents of proto.
+void BlockStructureToProto(const CompressedRowBlockStructure &block_structure,
+ BlockStructureProto *proto);
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_BLOCK_STRUCTURE_H_
diff --git a/internal/ceres/canonical_views_clustering.cc b/internal/ceres/canonical_views_clustering.cc
new file mode 100644
index 0000000..d0dc1e6
--- /dev/null
+++ b/internal/ceres/canonical_views_clustering.cc
@@ -0,0 +1,238 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: David Gallup (dgallup@google.com)
+// Sameer Agarwal (sameeragarwal@google.com)
+
+#include "ceres/canonical_views_clustering.h"
+
+#include "ceres/collections_port.h"
+#include "ceres/graph.h"
+#include "ceres/internal/macros.h"
+#include "ceres/map_util.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+typedef HashMap<int, int> IntMap;
+typedef HashSet<int> IntSet;
+
+class CanonicalViewsClustering {
+ public:
+ CanonicalViewsClustering() {}
+
+ // Compute the canonical views clustering of the vertices of the
+ // graph. centers will contain the vertices that are the identified
+ // as the canonical views/cluster centers, and membership is a map
+ // from vertices to cluster_ids. The i^th cluster center corresponds
+ // to the i^th cluster. It is possible depending on the
+ // configuration of the clustering algorithm that some of the
+ // vertices may not be assigned to any cluster. In this case they
+ // are assigned to a cluster with id = kInvalidClusterId.
+ void ComputeClustering(const Graph<int>& graph,
+ const CanonicalViewsClusteringOptions& options,
+ vector<int>* centers,
+ IntMap* membership);
+
+ private:
+ void FindValidViews(IntSet* valid_views) const;
+ double ComputeClusteringQualityDifference(const int candidate,
+ const vector<int>& centers) const;
+ void UpdateCanonicalViewAssignments(const int canonical_view);
+ void ComputeClusterMembership(const vector<int>& centers,
+ IntMap* membership) const;
+
+ CanonicalViewsClusteringOptions options_;
+ const Graph<int>* graph_;
+ // Maps a view to its representative canonical view (its cluster
+ // center).
+ IntMap view_to_canonical_view_;
+ // Maps a view to its similarity to its current cluster center.
+ HashMap<int, double> view_to_canonical_view_similarity_;
+ CERES_DISALLOW_COPY_AND_ASSIGN(CanonicalViewsClustering);
+};
+
+void ComputeCanonicalViewsClustering(
+ const Graph<int>& graph,
+ const CanonicalViewsClusteringOptions& options,
+ vector<int>* centers,
+ IntMap* membership) {
+ time_t start_time = time(NULL);
+ CanonicalViewsClustering cv;
+ cv.ComputeClustering(graph, options, centers, membership);
+ VLOG(2) << "Canonical views clustering time (secs): "
+ << time(NULL) - start_time;
+}
+
+// Implementation of CanonicalViewsClustering
+void CanonicalViewsClustering::ComputeClustering(
+ const Graph<int>& graph,
+ const CanonicalViewsClusteringOptions& options,
+ vector<int>* centers,
+ IntMap* membership) {
+ options_ = options;
+ CHECK_NOTNULL(centers)->clear();
+ CHECK_NOTNULL(membership)->clear();
+ graph_ = &graph;
+
+ IntSet valid_views;
+ FindValidViews(&valid_views);
+ while (valid_views.size() > 0) {
+ // Find the next best canonical view.
+ double best_difference = -std::numeric_limits<double>::max();
+ int best_view = 0;
+
+ // TODO(sameeragarwal): Make this loop multi-threaded.
+ for (IntSet::const_iterator view = valid_views.begin();
+ view != valid_views.end();
+ ++view) {
+ const double difference =
+ ComputeClusteringQualityDifference(*view, *centers);
+ if (difference > best_difference) {
+ best_difference = difference;
+ best_view = *view;
+ }
+ }
+
+ CHECK_GT(best_difference, -std::numeric_limits<double>::max());
+
+ // Add canonical view if quality improves, or if minimum is not
+ // yet met, otherwise break.
+ if ((best_difference <= 0) &&
+ (centers->size() >= options_.min_views)) {
+ break;
+ }
+
+ centers->push_back(best_view);
+ valid_views.erase(best_view);
+ UpdateCanonicalViewAssignments(best_view);
+ }
+
+ ComputeClusterMembership(*centers, membership);
+}
+
+// Return the set of vertices of the graph which have valid vertex
+// weights.
+void CanonicalViewsClustering::FindValidViews(
+ IntSet* valid_views) const {
+ const IntSet& views = graph_->vertices();
+ for (IntSet::const_iterator view = views.begin();
+ view != views.end();
+ ++view) {
+ if (graph_->VertexWeight(*view) != Graph<int>::InvalidWeight()) {
+ valid_views->insert(*view);
+ }
+ }
+}
+
+// Computes the difference in the quality score if 'candidate' were
+// added to the set of canonical views.
+double CanonicalViewsClustering::ComputeClusteringQualityDifference(
+ const int candidate,
+ const vector<int>& centers) const {
+ // View score.
+ double difference =
+ options_.view_score_weight * graph_->VertexWeight(candidate);
+
+ // Compute how much the quality score changes if the candidate view
+ // was added to the list of canonical views and its nearest
+ // neighbors became members of its cluster.
+ const IntSet& neighbors = graph_->Neighbors(candidate);
+ for (IntSet::const_iterator neighbor = neighbors.begin();
+ neighbor != neighbors.end();
+ ++neighbor) {
+ const double old_similarity =
+ FindWithDefault(view_to_canonical_view_similarity_, *neighbor, 0.0);
+ const double new_similarity = graph_->EdgeWeight(*neighbor, candidate);
+ if (new_similarity > old_similarity) {
+ difference += new_similarity - old_similarity;
+ }
+ }
+
+ // Number of views penalty.
+ difference -= options_.size_penalty_weight;
+
+ // Orthogonality.
+ for (int i = 0; i < centers.size(); ++i) {
+ difference -= options_.similarity_penalty_weight *
+ graph_->EdgeWeight(centers[i], candidate);
+ }
+
+ return difference;
+}
+
+// Reassign views if they're more similar to the new canonical view.
+void CanonicalViewsClustering::UpdateCanonicalViewAssignments(
+ const int canonical_view) {
+ const IntSet& neighbors = graph_->Neighbors(canonical_view);
+ for (IntSet::const_iterator neighbor = neighbors.begin();
+ neighbor != neighbors.end();
+ ++neighbor) {
+ const double old_similarity =
+ FindWithDefault(view_to_canonical_view_similarity_, *neighbor, 0.0);
+ const double new_similarity =
+ graph_->EdgeWeight(*neighbor, canonical_view);
+ if (new_similarity > old_similarity) {
+ view_to_canonical_view_[*neighbor] = canonical_view;
+ view_to_canonical_view_similarity_[*neighbor] = new_similarity;
+ }
+ }
+}
+
+// Assign a cluster id to each view.
+void CanonicalViewsClustering::ComputeClusterMembership(
+ const vector<int>& centers,
+ IntMap* membership) const {
+ CHECK_NOTNULL(membership)->clear();
+
+ // The i^th cluster has cluster id i.
+ IntMap center_to_cluster_id;
+ for (int i = 0; i < centers.size(); ++i) {
+ center_to_cluster_id[centers[i]] = i;
+ }
+
+ static const int kInvalidClusterId = -1;
+
+ const IntSet& views = graph_->vertices();
+ for (IntSet::const_iterator view = views.begin();
+ view != views.end();
+ ++view) {
+ IntMap::const_iterator it =
+ view_to_canonical_view_.find(*view);
+ int cluster_id = kInvalidClusterId;
+ if (it != view_to_canonical_view_.end()) {
+ cluster_id = FindOrDie(center_to_cluster_id, it->second);
+ }
+
+ InsertOrDie(membership, *view, cluster_id);
+ }
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/canonical_views_clustering.h b/internal/ceres/canonical_views_clustering.h
new file mode 100644
index 0000000..171ac55
--- /dev/null
+++ b/internal/ceres/canonical_views_clustering.h
@@ -0,0 +1,133 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// An implementation of the Canonical Views clustering algorithm from
+// "Scene Summarization for Online Image Collections", Ian Simon, Noah
+// Snavely, Steven M. Seitz, ICCV 2007.
+//
+// More details can be found at
+// http://grail.cs.washington.edu/projects/canonview/
+//
+// Ceres uses this algorithm to perform view clustering for
+// constructing visibility based preconditioners.
+
+#ifndef CERES_INTERNAL_CANONICAL_VIEWS_CLUSTERING_H_
+#define CERES_INTERNAL_CANONICAL_VIEWS_CLUSTERING_H_
+
+#include <vector>
+
+#include <glog/logging.h>
+#include "ceres/collections_port.h"
+#include "ceres/graph.h"
+#include "ceres/map_util.h"
+#include "ceres/internal/macros.h"
+
+namespace ceres {
+namespace internal {
+
+struct CanonicalViewsClusteringOptions;
+
+// Compute a partitioning of the vertices of the graph using the
+// canonical views clustering algorithm.
+//
+// In the following we will use the terms vertices and views
+// interchangably. Given a weighted Graph G(V,E), the canonical views
+// of G are the the set of vertices that best "summarize" the content
+// of the graph. If w_ij i s the weight connecting the vertex i to
+// vertex j, and C is the set of canonical views. Then the objective
+// of the canonical views algorithm is
+//
+// E[C] = sum_[i in V] max_[j in C] w_ij
+// - size_penalty_weight * |C|
+// - similarity_penalty_weight * sum_[i in C, j in C, j > i] w_ij
+//
+// alpha is the size penalty that penalizes large number of canonical
+// views.
+//
+// beta is the similarity penalty that penalizes canonical views that
+// are too similar to other canonical views.
+//
+// Thus the canonical views algorithm tries to find a canonical view
+// for each vertex in the graph which best explains it, while trying
+// to minimize the number of canonical views and the overlap between
+// them.
+//
+// We further augment the above objective function by allowing for per
+// vertex weights, higher weights indicating a higher preference for
+// being chosen as a canonical view. Thus if w_i is the vertex weight
+// for vertex i, the objective function is then
+//
+// E[C] = sum_[i in V] max_[j in C] w_ij
+// - size_penalty_weight * |C|
+// - similarity_penalty_weight * sum_[i in C, j in C, j > i] w_ij
+// + view_score_weight * sum_[i in C] w_i
+//
+// centers will contain the vertices that are the identified
+// as the canonical views/cluster centers, and membership is a map
+// from vertices to cluster_ids. The i^th cluster center corresponds
+// to the i^th cluster.
+//
+// It is possible depending on the configuration of the clustering
+// algorithm that some of the vertices may not be assigned to any
+// cluster. In this case they are assigned to a cluster with id = -1;
+void ComputeCanonicalViewsClustering(
+ const Graph<int>& graph,
+ const CanonicalViewsClusteringOptions& options,
+ vector<int>* centers,
+ HashMap<int, int>* membership);
+
+struct CanonicalViewsClusteringOptions {
+ CanonicalViewsClusteringOptions()
+ : min_views(3),
+ size_penalty_weight(5.75),
+ similarity_penalty_weight(100.0),
+ view_score_weight(0.0) {
+ }
+ // The minimum number of canonical views to compute.
+ int min_views;
+
+ // Penalty weight for the number of canonical views. A higher
+ // number will result in fewer canonical views.
+ double size_penalty_weight;
+
+ // Penalty weight for the diversity (orthogonality) of the
+ // canonical views. A higher number will encourage less similar
+ // canonical views.
+ double similarity_penalty_weight;
+
+ // Weight for per-view scores. Lower weight places less
+ // confidence in the view scores.
+ double view_score_weight;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_CANONICAL_VIEWS_CLUSTERING_H_
diff --git a/internal/ceres/canonical_views_clustering_test.cc b/internal/ceres/canonical_views_clustering_test.cc
new file mode 100644
index 0000000..29bac3c
--- /dev/null
+++ b/internal/ceres/canonical_views_clustering_test.cc
@@ -0,0 +1,143 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: Sameer Agarwal (sameeragarwal@google.com)
+// David Gallup (dgallup@google.com)
+
+#include "ceres/canonical_views_clustering.h"
+
+#include "ceres/collections_port.h"
+#include "ceres/graph.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+const int kVertexIds[] = {0, 1, 2, 3};
+class CanonicalViewsTest : public ::testing::Test {
+ protected:
+ virtual void SetUp() {
+ // The graph structure is as follows.
+ //
+ // Vertex weights: 0 2 2 0
+ // V0-----V1-----V2-----V3
+ // Edge weights: 0.8 0.9 0.3
+ const double kVertexWeights[] = {0.0, 2.0, 2.0, -1.0};
+ for (int i = 0; i < 4; ++i) {
+ graph_.AddVertex(i, kVertexWeights[i]);
+ }
+ // Create self edges.
+ // CanonicalViews requires that every view "sees" itself.
+ for (int i = 0; i < 4; ++i) {
+ graph_.AddEdge(i, i, 1.0);
+ }
+
+ // Create three edges.
+ const double kEdgeWeights[] = {0.8, 0.9, 0.3};
+ for (int i = 0; i < 3; ++i) {
+ // The graph interface is directed, so remember to create both
+ // edges.
+ graph_.AddEdge(kVertexIds[i], kVertexIds[i + 1], kEdgeWeights[i]);
+ }
+ }
+
+ void ComputeClustering() {
+ ComputeCanonicalViewsClustering(graph_, options_, ¢ers_, &membership_);
+ }
+
+ Graph<int> graph_;
+
+ CanonicalViewsClusteringOptions options_;
+ vector<int> centers_;
+ HashMap<int, int> membership_;
+};
+
+TEST_F(CanonicalViewsTest, ComputeCanonicalViewsTest) {
+ options_.min_views = 0;
+ options_.size_penalty_weight = 0.5;
+ options_.similarity_penalty_weight = 0.0;
+ options_.view_score_weight = 0.0;
+ ComputeClustering();
+
+ // 2 canonical views.
+ EXPECT_EQ(centers_.size(), 2);
+ EXPECT_EQ(centers_[0], kVertexIds[1]);
+ EXPECT_EQ(centers_[1], kVertexIds[3]);
+
+ // Check cluster membership.
+ EXPECT_EQ(FindOrDie(membership_, kVertexIds[0]), 0);
+ EXPECT_EQ(FindOrDie(membership_, kVertexIds[1]), 0);
+ EXPECT_EQ(FindOrDie(membership_, kVertexIds[2]), 0);
+ EXPECT_EQ(FindOrDie(membership_, kVertexIds[3]), 1);
+}
+
+// Increases size penalty so the second canonical view won't be
+// chosen.
+TEST_F(CanonicalViewsTest, SizePenaltyTest) {
+ options_.min_views = 0;
+ options_.size_penalty_weight = 2.0;
+ options_.similarity_penalty_weight = 0.0;
+ options_.view_score_weight = 0.0;
+ ComputeClustering();
+
+ // 1 canonical view.
+ EXPECT_EQ(centers_.size(), 1);
+ EXPECT_EQ(centers_[0], kVertexIds[1]);
+}
+
+
+// Increases view score weight so vertex 2 will be chosen.
+TEST_F(CanonicalViewsTest, ViewScoreTest) {
+ options_.min_views = 0;
+ options_.size_penalty_weight = 0.5;
+ options_.similarity_penalty_weight = 0.0;
+ options_.view_score_weight = 1.0;
+ ComputeClustering();
+
+ // 2 canonical views.
+ EXPECT_EQ(centers_.size(), 2);
+ EXPECT_EQ(centers_[0], kVertexIds[1]);
+ EXPECT_EQ(centers_[1], kVertexIds[2]);
+}
+
+// Increases similarity penalty so vertex 2 won't be chosen despite
+// it's view score.
+TEST_F(CanonicalViewsTest, SimilarityPenaltyTest) {
+ options_.min_views = 0;
+ options_.size_penalty_weight = 0.5;
+ options_.similarity_penalty_weight = 3.0;
+ options_.view_score_weight = 1.0;
+ ComputeClustering();
+
+ // 2 canonical views.
+ EXPECT_EQ(centers_.size(), 1);
+ EXPECT_EQ(centers_[0], kVertexIds[1]);
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/casts.h b/internal/ceres/casts.h
new file mode 100644
index 0000000..99cf218
--- /dev/null
+++ b/internal/ceres/casts.h
@@ -0,0 +1,108 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#ifndef CERES_INTERNAL_CASTS_H_
+#define CERES_INTERNAL_CASTS_H_
+
+#include <cassert>
+#include <cstddef> // For NULL.
+
+namespace ceres {
+
+// Identity metafunction.
+template <class T>
+struct identity_ {
+ typedef T type;
+};
+
+// Use implicit_cast as a safe version of static_cast or const_cast
+// for implicit conversions. For example:
+// - Upcasting in a type hierarchy.
+// - Performing arithmetic conversions (int32 to int64, int to double, etc.).
+// - Adding const or volatile qualifiers.
+//
+// In general, implicit_cast can be used to convert this code
+// To to = from;
+// DoSomething(to);
+// to this
+// DoSomething(implicit_cast<To>(from));
+//
+// base::identity_ is used to make a non-deduced context, which
+// forces all callers to explicitly specify the template argument.
+template<typename To>
+inline To implicit_cast(typename identity_<To>::type to) {
+ return to;
+}
+
+// This version of implicit_cast is used when two template arguments
+// are specified. It's obsolete and should not be used.
+template<typename To, typename From>
+inline To implicit_cast(typename identity_<From>::type const &f) {
+ return f;
+}
+
+// When you upcast (that is, cast a pointer from type Foo to type
+// SuperclassOfFoo), it's fine to use implicit_cast<>, since upcasts
+// always succeed. When you downcast (that is, cast a pointer from
+// type Foo to type SubclassOfFoo), static_cast<> isn't safe, because
+// how do you know the pointer is really of type SubclassOfFoo? It
+// could be a bare Foo, or of type DifferentSubclassOfFoo. Thus,
+// when you downcast, you should use this macro. In debug mode, we
+// use dynamic_cast<> to double-check the downcast is legal (we die
+// if it's not). In normal mode, we do the efficient static_cast<>
+// instead. Thus, it's important to test in debug mode to make sure
+// the cast is legal!
+// This is the only place in the code we should use dynamic_cast<>.
+// In particular, you SHOULDN'T be using dynamic_cast<> in order to
+// do RTTI (eg code like this:
+// if (dynamic_cast<Subclass1>(foo)) HandleASubclass1Object(foo);
+// if (dynamic_cast<Subclass2>(foo)) HandleASubclass2Object(foo);
+// You should design the code some other way not to need this.
+
+template<typename To, typename From> // use like this: down_cast<T*>(foo);
+inline To down_cast(From* f) { // so we only accept pointers
+ // Ensures that To is a sub-type of From *. This test is here only
+ // for compile-time type checking, and has no overhead in an
+ // optimized build at run-time, as it will be optimized away
+ // completely.
+
+ // TODO(csilvers): This should use COMPILE_ASSERT.
+ if (false) {
+ implicit_cast<From*, To>(NULL);
+ }
+
+ // uses RTTI in dbg and fastbuild. asserts are disabled in opt builds.
+ assert(f == NULL || dynamic_cast<To>(f) != NULL); // NOLINT
+ return static_cast<To>(f);
+}
+
+} // namespace ceres
+
+#endif // CERES_INTERNAL_CASTS_H_
diff --git a/internal/ceres/cgnr_linear_operator.h b/internal/ceres/cgnr_linear_operator.h
new file mode 100644
index 0000000..f32d8d9
--- /dev/null
+++ b/internal/ceres/cgnr_linear_operator.h
@@ -0,0 +1,120 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#ifndef CERES_INTERNAL_CGNR_LINEAR_OPERATOR_H_
+#define CERES_INTERNAL_CGNR_LINEAR_OPERATOR_H_
+
+#include <algorithm>
+#include "ceres/linear_operator.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+class SparseMatrix;
+
+// A linear operator which takes a matrix A and a diagonal vector D and
+// performs products of the form
+//
+// (A^T A + D^T D)x
+//
+// This is used to implement iterative general sparse linear solving with
+// conjugate gradients, where A is the Jacobian and D is a regularizing
+// parameter. A brief proof that D^T D is the correct regularizer:
+//
+// Given a regularized least squares problem:
+//
+// min ||Ax - b||^2 + ||Dx||^2
+// x
+//
+// First expand into matrix notation:
+//
+// (Ax - b)^T (Ax - b) + xD^TDx
+//
+// Then multiply out to get:
+//
+// = xA^TAx - 2b^T Ax + b^Tb + xD^TDx
+//
+// Take the derivative:
+//
+// 0 = 2A^TAx - 2A^T b + 2 D^TDx
+// 0 = A^TAx - A^T b + D^TDx
+// 0 = (A^TA + D^TD)x - A^T b
+//
+// Thus, the symmetric system we need to solve for CGNR is
+//
+// Sx = z
+//
+// with S = A^TA + D^TD
+// and z = A^T b
+//
+// Note: This class is not thread safe, since it uses some temporary storage.
+class CgnrLinearOperator : public LinearOperator {
+ public:
+ CgnrLinearOperator(const LinearOperator& A, const double *D)
+ : A_(A), D_(D), z_(new double[A.num_rows()]) {
+ }
+ virtual ~CgnrLinearOperator() {}
+
+ virtual void RightMultiply(const double* x, double* y) const {
+ std::fill(z_.get(), z_.get() + A_.num_rows(), 0.0);
+
+ // z = Ax
+ A_.RightMultiply(x, z_.get());
+
+ // y = y + Atz
+ A_.LeftMultiply(z_.get(), y);
+
+ // y = y + DtDx
+ if (D_ != NULL) {
+ int n = A_.num_cols();
+ VectorRef(y, n).array() += ConstVectorRef(D_, n).array().square() *
+ ConstVectorRef(x, n).array();
+ }
+ }
+
+ virtual void LeftMultiply(const double* x, double* y) const {
+ RightMultiply(x, y);
+ }
+
+ virtual int num_rows() const { return A_.num_cols(); }
+ virtual int num_cols() const { return A_.num_cols(); }
+
+ private:
+ const LinearOperator& A_;
+ const double* D_;
+ scoped_array<double> z_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_CGNR_LINEAR_OPERATOR_H_
diff --git a/internal/ceres/cgnr_solver.cc b/internal/ceres/cgnr_solver.cc
new file mode 100644
index 0000000..ccc8026
--- /dev/null
+++ b/internal/ceres/cgnr_solver.cc
@@ -0,0 +1,80 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "ceres/cgnr_solver.h"
+
+#include "glog/logging.h"
+#include "ceres/linear_solver.h"
+#include "ceres/cgnr_linear_operator.h"
+#include "ceres/conjugate_gradients_solver.h"
+#include "ceres/block_jacobi_preconditioner.h"
+
+namespace ceres {
+namespace internal {
+
+CgnrSolver::CgnrSolver(const LinearSolver::Options& options)
+ : options_(options),
+ jacobi_preconditioner_(NULL) {
+}
+
+LinearSolver::Summary CgnrSolver::Solve(
+ LinearOperator* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x) {
+ // Form z = Atb.
+ scoped_array<double> z(new double[A->num_cols()]);
+ std::fill(z.get(), z.get() + A->num_cols(), 0.0);
+ A->LeftMultiply(b, z.get());
+
+ // Precondition if necessary.
+ LinearSolver::PerSolveOptions cg_per_solve_options = per_solve_options;
+ if (options_.preconditioner_type == JACOBI) {
+ if (jacobi_preconditioner_.get() == NULL) {
+ jacobi_preconditioner_.reset(new BlockJacobiPreconditioner(*A));
+ }
+ jacobi_preconditioner_->Update(*A, per_solve_options.D);
+ cg_per_solve_options.preconditioner = jacobi_preconditioner_.get();
+ } else if (options_.preconditioner_type != IDENTITY) {
+ LOG(FATAL) << "CGNR only supports IDENTITY and JACOBI preconditioners.";
+ }
+
+ // Solve (AtA + DtD)x = z (= Atb).
+ std::fill(x, x + A->num_cols(), 0.0);
+ CgnrLinearOperator lhs(*A, per_solve_options.D);
+ ConjugateGradientsSolver conjugate_gradient_solver(options_);
+ return conjugate_gradient_solver.Solve(&lhs,
+ z.get(),
+ cg_per_solve_options,
+ x);
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/cgnr_solver.h b/internal/ceres/cgnr_solver.h
new file mode 100644
index 0000000..877b4c4
--- /dev/null
+++ b/internal/ceres/cgnr_solver.h
@@ -0,0 +1,66 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#ifndef CERES_INTERNAL_CGNR_SOLVER_H_
+#define CERES_INTERNAL_CGNR_SOLVER_H_
+
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_solver.h"
+
+namespace ceres {
+namespace internal {
+
+class BlockJacobiPreconditioner;
+
+// A conjugate gradients on the normal equations solver. This directly solves
+// for the solution to
+//
+// (A^T A + D^T D)x = A^T b
+//
+// as required for solving for x in the least squares sense. Currently only
+// block diagonal preconditioning is supported.
+class CgnrSolver : public LinearSolver {
+ public:
+ explicit CgnrSolver(const LinearSolver::Options& options);
+ virtual Summary Solve(LinearOperator* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x);
+
+ private:
+ const LinearSolver::Options options_;
+ scoped_ptr<BlockJacobiPreconditioner> jacobi_preconditioner_;
+ CERES_DISALLOW_COPY_AND_ASSIGN(CgnrSolver);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_CGNR_SOLVER_H_
diff --git a/internal/ceres/collections_port.cc b/internal/ceres/collections_port.cc
new file mode 100644
index 0000000..fbeb61c
--- /dev/null
+++ b/internal/ceres/collections_port.cc
@@ -0,0 +1,43 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "ceres/collections_port.h"
+
+inline uint32 Hash32NumWithSeed(uint32 num, uint32 c) {
+ uint32 b = 0x9e3779b9UL; // the golden ratio; an arbitrary value
+ mix(num, b, c);
+ return c;
+}
+
+inline uint64 Hash64NumWithSeed(uint64 num, uint64 c) {
+ uint64 b = GG_ULONGLONG(0xe08c1d668b756f82); // more of the golden ratio
+ mix(num, b, c);
+ return c;
+}
diff --git a/internal/ceres/collections_port.h b/internal/ceres/collections_port.h
new file mode 100644
index 0000000..063b6d3
--- /dev/null
+++ b/internal/ceres/collections_port.h
@@ -0,0 +1,167 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// Portable HashMap and HashSet, and a specialized overload for hashing pairs.
+
+#ifndef CERES_INTERNAL_COLLECTIONS_PORT_H_
+#define CERES_INTERNAL_COLLECTIONS_PORT_H_
+
+#if defined(CERES_NO_TR1)
+# include <map>
+# include <set>
+#else
+# if defined(_MSC_VER)
+# include <unordered_map>
+# include <unordered_set>
+# else
+# include <tr1/unordered_map>
+# include <tr1/unordered_set>
+# endif
+#endif
+#include <utility>
+#include "ceres/integral_types.h"
+#include "ceres/internal/port.h"
+
+// Some systems don't have access to TR1. In that case, substitute the hash
+// map/set with normal map/set. The price to pay is slightly slower speed for
+// some operations.
+#if defined(CERES_NO_TR1)
+
+namespace ceres {
+namespace internal {
+
+template<typename K, typename V>
+struct HashMap : map<K, V> {};
+
+template<typename K>
+struct HashSet : set<K> {};
+
+} // namespace internal
+} // namespace ceres
+
+#else
+
+namespace ceres {
+namespace internal {
+
+template<typename K, typename V>
+struct HashMap : std::tr1::unordered_map<K, V> {};
+
+template<typename K>
+struct HashSet : std::tr1::unordered_set<K> {};
+
+#ifdef _WIN32
+#define GG_LONGLONG(x) x##I64
+#define GG_ULONGLONG(x) x##UI64
+#else
+#define GG_LONGLONG(x) x##LL
+#define GG_ULONGLONG(x) x##ULL
+#endif
+
+// The hash function is due to Bob Jenkins (see
+// http://burtleburtle.net/bob/hash/index.html). Each mix takes 36 instructions,
+// in 18 cycles if you're lucky. On x86 architectures, this requires 45
+// instructions in 27 cycles, if you're lucky.
+//
+// 32bit version
+inline void hash_mix(uint32& a, uint32& b, uint32& c) {
+ a -= b; a -= c; a ^= (c>>13);
+ b -= c; b -= a; b ^= (a<<8);
+ c -= a; c -= b; c ^= (b>>13);
+ a -= b; a -= c; a ^= (c>>12);
+ b -= c; b -= a; b ^= (a<<16);
+ c -= a; c -= b; c ^= (b>>5);
+ a -= b; a -= c; a ^= (c>>3);
+ b -= c; b -= a; b ^= (a<<10);
+ c -= a; c -= b; c ^= (b>>15);
+}
+
+// 64bit version
+inline void hash_mix(uint64& a, uint64& b, uint64& c) {
+ a -= b; a -= c; a ^= (c>>43);
+ b -= c; b -= a; b ^= (a<<9);
+ c -= a; c -= b; c ^= (b>>8);
+ a -= b; a -= c; a ^= (c>>38);
+ b -= c; b -= a; b ^= (a<<23);
+ c -= a; c -= b; c ^= (b>>5);
+ a -= b; a -= c; a ^= (c>>35);
+ b -= c; b -= a; b ^= (a<<49);
+ c -= a; c -= b; c ^= (b>>11);
+}
+
+inline uint32 Hash32NumWithSeed(uint32 num, uint32 c) {
+ // The golden ratio; an arbitrary value.
+ uint32 b = 0x9e3779b9UL;
+ hash_mix(num, b, c);
+ return c;
+}
+
+inline uint64 Hash64NumWithSeed(uint64 num, uint64 c) {
+ // More of the golden ratio.
+ uint64 b = GG_ULONGLONG(0xe08c1d668b756f82);
+ hash_mix(num, b, c);
+ return c;
+}
+
+} // namespace internal
+} // namespace ceres
+
+// Since on some platforms this is a doubly-nested namespace (std::tr1) and
+// others it is not, the entire namespace line must be in a macro.
+CERES_HASH_NAMESPACE_START
+
+// The outrageously annoying specializations below are for portability reasons.
+// In short, it's not possible to have two overloads of hash<pair<T1, T2>
+
+// Hasher for STL pairs. Requires hashers for both members to be defined.
+template<typename T>
+struct hash<pair<T, T> > {
+ size_t operator()(const pair<T, T>& p) const {
+ size_t h1 = hash<T>()(p.first);
+ size_t h2 = hash<T>()(p.second);
+ // The decision below is at compile time
+ return (sizeof(h1) <= sizeof(ceres::internal::uint32)) ?
+ ceres::internal::Hash32NumWithSeed(h1, h2) :
+ ceres::internal::Hash64NumWithSeed(h1, h2);
+ }
+ // Less than operator for MSVC.
+ bool operator()(const pair<T, T>& a,
+ const pair<T, T>& b) const {
+ return a < b;
+ }
+ static const size_t bucket_size = 4; // These are required by MSVC
+ static const size_t min_buckets = 8; // 4 and 8 are defaults.
+};
+
+CERES_HASH_NAMESPACE_END
+
+#endif // CERES_NO_TR1
+
+#endif // CERES_INTERNAL_COLLECTIONS_PORT_H_
diff --git a/internal/ceres/compressed_row_jacobian_writer.cc b/internal/ceres/compressed_row_jacobian_writer.cc
new file mode 100644
index 0000000..912c484
--- /dev/null
+++ b/internal/ceres/compressed_row_jacobian_writer.cc
@@ -0,0 +1,217 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "ceres/compressed_row_jacobian_writer.h"
+
+#include "ceres/casts.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/parameter_block.h"
+#include "ceres/program.h"
+#include "ceres/residual_block.h"
+#include "ceres/scratch_evaluate_preparer.h"
+
+namespace ceres {
+namespace internal {
+
+SparseMatrix* CompressedRowJacobianWriter::CreateJacobian() const {
+ const vector<ResidualBlock*>& residual_blocks =
+ program_->residual_blocks();
+
+ int total_num_residuals = program_->NumResiduals();
+ int total_num_effective_parameters = program_->NumEffectiveParameters();
+
+ // Count the number of jacobian nonzeros.
+ int num_jacobian_nonzeros = 0;
+ for (int i = 0; i < residual_blocks.size(); ++i) {
+ ResidualBlock* residual_block = residual_blocks[i];
+ const int num_residuals = residual_block->NumResiduals();
+ const int num_parameter_blocks = residual_block->NumParameterBlocks();
+ for (int j = 0; j < num_parameter_blocks; ++j) {
+ ParameterBlock* parameter_block = residual_block->parameter_blocks()[j];
+ if (!parameter_block->IsConstant()) {
+ num_jacobian_nonzeros += num_residuals * parameter_block->LocalSize();
+ }
+ }
+ }
+
+ // Allocate storage for the jacobian with some extra space at the end.
+ // Allocate more space than needed to store the jacobian so that when the LM
+ // algorithm adds the diagonal, no reallocation is necessary. This reduces
+ // peak memory usage significantly.
+ CompressedRowSparseMatrix* jacobian =
+ new CompressedRowSparseMatrix(
+ total_num_residuals,
+ total_num_effective_parameters,
+ num_jacobian_nonzeros + total_num_effective_parameters);
+
+ // At this stage, the CompressedSparseMatrix is an invalid state. But this
+ // seems to be the only way to construct it without doing a memory copy.
+ int* rows = jacobian->mutable_rows();
+ int* cols = jacobian->mutable_cols();
+ int row_pos = 0;
+ rows[0] = 0;
+ for (int i = 0; i < residual_blocks.size(); ++i) {
+ const ResidualBlock* residual_block = residual_blocks[i];
+ const int num_parameter_blocks = residual_block->NumParameterBlocks();
+
+ // Count the number of derivatives for a row of this residual block and
+ // build a list of active parameter block indices.
+ int num_derivatives = 0;
+ vector<int> parameter_indices;
+ for (int j = 0; j < num_parameter_blocks; ++j) {
+ ParameterBlock* parameter_block = residual_block->parameter_blocks()[j];
+ if (!parameter_block->IsConstant()) {
+ parameter_indices.push_back(parameter_block->index());
+ num_derivatives += parameter_block->LocalSize();
+ }
+ }
+
+ // Sort the parameters by their position in the state vector.
+ sort(parameter_indices.begin(), parameter_indices.end());
+ CHECK(unique(parameter_indices.begin(), parameter_indices.end()) ==
+ parameter_indices.end())
+ << "Ceres internal error: "
+ << "Duplicate parameter blocks detected in a cost function. "
+ << "This should never happen. Please report this to "
+ << "the Ceres developers.";
+
+ // Update the row indices.
+ const int num_residuals = residual_block->NumResiduals();
+ for (int j = 0; j < num_residuals; ++j) {
+ rows[row_pos + j + 1] = rows[row_pos + j] + num_derivatives;
+ }
+
+ // Iterate over parameter blocks in the order which they occur in the
+ // parameter vector. This code mirrors that in Write(), where jacobian
+ // values are updated.
+ int col_pos = 0;
+ for (int j = 0; j < parameter_indices.size(); ++j) {
+ ParameterBlock* parameter_block =
+ program_->parameter_blocks()[parameter_indices[j]];
+ const int parameter_block_size = parameter_block->LocalSize();
+
+ for (int r = 0; r < num_residuals; ++r) {
+ // This is the position in the values array of the jacobian where this
+ // row of the jacobian block should go.
+ const int column_block_begin = rows[row_pos + r] + col_pos;
+
+ for (int c = 0; c < parameter_block_size; ++c) {
+ cols[column_block_begin + c] = parameter_block->delta_offset() + c;
+ }
+ }
+ col_pos += parameter_block_size;
+ }
+ row_pos += num_residuals;
+ }
+ CHECK_EQ(num_jacobian_nonzeros, rows[total_num_residuals]);
+
+ // Populate the row and column block vectors for use by block
+ // oriented ordering algorithms. This is useful when
+ // Solver::Options::use_block_amd = true.
+ const vector<ParameterBlock*>& parameter_blocks = program_->parameter_blocks();
+ vector<int>& col_blocks = *(jacobian->mutable_col_blocks());
+ col_blocks.resize(parameter_blocks.size());
+ for (int i = 0; i < parameter_blocks.size(); ++i) {
+ col_blocks[i] = parameter_blocks[i]->LocalSize();
+ }
+
+ vector<int>& row_blocks = *(jacobian->mutable_row_blocks());
+ row_blocks.resize(residual_blocks.size());
+ for (int i = 0; i < residual_blocks.size(); ++i) {
+ row_blocks[i] = residual_blocks[i]->NumResiduals();
+ }
+
+ return jacobian;
+}
+
+void CompressedRowJacobianWriter::Write(int residual_id,
+ int residual_offset,
+ double **jacobians,
+ SparseMatrix* base_jacobian) {
+ CompressedRowSparseMatrix* jacobian =
+ down_cast<CompressedRowSparseMatrix*>(base_jacobian);
+
+ double* jacobian_values = jacobian->mutable_values();
+ const int* jacobian_rows = jacobian->rows();
+
+ const ResidualBlock* residual_block =
+ program_->residual_blocks()[residual_id];
+ const int num_parameter_blocks = residual_block->NumParameterBlocks();
+ const int num_residuals = residual_block->NumResiduals();
+
+ // It is necessary to determine the order of the jacobian blocks before
+ // copying them into the CompressedRowSparseMatrix. Just because a cost
+ // function uses parameter blocks 1 after 2 in its arguments does not mean
+ // that the block 1 occurs before block 2 in the column layout of the
+ // jacobian. Thus, determine the order by sorting the jacobian blocks by their
+ // position in the state vector.
+ vector<pair<int, int> > evaluated_jacobian_blocks;
+ for (int j = 0; j < num_parameter_blocks; ++j) {
+ const ParameterBlock* parameter_block =
+ residual_block->parameter_blocks()[j];
+ if (!parameter_block->IsConstant()) {
+ evaluated_jacobian_blocks.push_back(
+ make_pair(parameter_block->index(), j));
+ }
+ }
+ sort(evaluated_jacobian_blocks.begin(), evaluated_jacobian_blocks.end());
+
+ // Where in the current row does the jacobian for a parameter block begin.
+ int col_pos = 0;
+
+ // Iterate over the jacobian blocks in increasing order of their
+ // positions in the reduced parameter vector.
+ for (int i = 0; i < evaluated_jacobian_blocks.size(); ++i) {
+ const ParameterBlock* parameter_block =
+ program_->parameter_blocks()[evaluated_jacobian_blocks[i].first];
+ const int argument = evaluated_jacobian_blocks[i].second;
+ const int parameter_block_size = parameter_block->LocalSize();
+
+ // Copy one row of the jacobian block at a time.
+ for (int r = 0; r < num_residuals; ++r) {
+ // Position of the r^th row of the current jacobian block.
+ const double* block_row_begin =
+ jacobians[argument] + r * parameter_block_size;
+
+ // Position in the values array of the jacobian where this
+ // row of the jacobian block should go.
+ double* column_block_begin =
+ jacobian_values + jacobian_rows[residual_offset + r] + col_pos;
+
+ copy(block_row_begin,
+ block_row_begin + parameter_block_size,
+ column_block_begin);
+ }
+ col_pos += parameter_block_size;
+ }
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/compressed_row_jacobian_writer.h b/internal/ceres/compressed_row_jacobian_writer.h
new file mode 100644
index 0000000..c103165
--- /dev/null
+++ b/internal/ceres/compressed_row_jacobian_writer.h
@@ -0,0 +1,75 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// A jacobian writer that directly writes to compressed row sparse matrices.
+
+#ifndef CERES_INTERNAL_COMPRESSED_ROW_JACOBIAN_WRITER_H_
+#define CERES_INTERNAL_COMPRESSED_ROW_JACOBIAN_WRITER_H_
+
+#include "ceres/evaluator.h"
+#include "ceres/scratch_evaluate_preparer.h"
+
+namespace ceres {
+namespace internal {
+
+class Program;
+class SparseMatrix;
+
+class CompressedRowJacobianWriter {
+ public:
+ CompressedRowJacobianWriter(Evaluator::Options /* ignored */,
+ Program* program)
+ : program_(program) {
+ }
+
+ // JacobianWriter interface.
+
+ // Since the compressed row matrix has different layout than that assumed by
+ // the cost functions, use scratch space to store the jacobians temporarily
+ // then copy them over to the larger jacobian in the Write() function.
+ ScratchEvaluatePreparer* CreateEvaluatePreparers(int num_threads) {
+ return ScratchEvaluatePreparer::Create(*program_, num_threads);
+ }
+
+ SparseMatrix* CreateJacobian() const;
+
+ void Write(int residual_id,
+ int residual_offset,
+ double **jacobians,
+ SparseMatrix* base_jacobian);
+
+ private:
+ Program* program_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_COMPRESSED_ROW_JACOBIAN_WRITER_H_
diff --git a/internal/ceres/compressed_row_sparse_matrix.cc b/internal/ceres/compressed_row_sparse_matrix.cc
new file mode 100644
index 0000000..1b61468
--- /dev/null
+++ b/internal/ceres/compressed_row_sparse_matrix.cc
@@ -0,0 +1,354 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/compressed_row_sparse_matrix.h"
+
+#include <algorithm>
+#include <vector>
+#include "ceres/crs_matrix.h"
+#include "ceres/internal/port.h"
+#include "ceres/matrix_proto.h"
+
+namespace ceres {
+namespace internal {
+namespace {
+
+// Helper functor used by the constructor for reordering the contents
+// of a TripletSparseMatrix. This comparator assumes thay there are no
+// duplicates in the pair of arrays rows and cols, i.e., there is no
+// indices i and j (not equal to each other) s.t.
+//
+// rows[i] == rows[j] && cols[i] == cols[j]
+//
+// If this is the case, this functor will not be a StrictWeakOrdering.
+struct RowColLessThan {
+ RowColLessThan(const int* rows, const int* cols)
+ : rows(rows), cols(cols) {
+ }
+
+ bool operator()(const int x, const int y) const {
+ if (rows[x] == rows[y]) {
+ return (cols[x] < cols[y]);
+ }
+ return (rows[x] < rows[y]);
+ }
+
+ const int* rows;
+ const int* cols;
+};
+
+} // namespace
+
+// This constructor gives you a semi-initialized CompressedRowSparseMatrix.
+CompressedRowSparseMatrix::CompressedRowSparseMatrix(int num_rows,
+ int num_cols,
+ int max_num_nonzeros) {
+ num_rows_ = num_rows;
+ num_cols_ = num_cols;
+ max_num_nonzeros_ = max_num_nonzeros;
+
+ VLOG(1) << "# of rows: " << num_rows_ << " # of columns: " << num_cols_
+ << " max_num_nonzeros: " << max_num_nonzeros_
+ << ". Allocating " << (num_rows_ + 1) * sizeof(int) + // NOLINT
+ max_num_nonzeros_ * sizeof(int) + // NOLINT
+ max_num_nonzeros_ * sizeof(double); // NOLINT
+
+ rows_.reset(new int[num_rows_ + 1]);
+ cols_.reset(new int[max_num_nonzeros_]);
+ values_.reset(new double[max_num_nonzeros_]);
+
+ fill(rows_.get(), rows_.get() + num_rows_ + 1, 0);
+ fill(cols_.get(), cols_.get() + max_num_nonzeros_, 0);
+ fill(values_.get(), values_.get() + max_num_nonzeros_, 0);
+}
+
+CompressedRowSparseMatrix::CompressedRowSparseMatrix(
+ const TripletSparseMatrix& m) {
+ num_rows_ = m.num_rows();
+ num_cols_ = m.num_cols();
+ max_num_nonzeros_ = m.max_num_nonzeros();
+
+ // index is the list of indices into the TripletSparseMatrix m.
+ vector<int> index(m.num_nonzeros(), 0);
+ for (int i = 0; i < m.num_nonzeros(); ++i) {
+ index[i] = i;
+ }
+
+ // Sort index such that the entries of m are ordered by row and ties
+ // are broken by column.
+ sort(index.begin(), index.end(), RowColLessThan(m.rows(), m.cols()));
+
+ VLOG(1) << "# of rows: " << num_rows_ << " # of columns: " << num_cols_
+ << " max_num_nonzeros: " << max_num_nonzeros_
+ << ". Allocating " << (num_rows_ + 1) * sizeof(int) + // NOLINT
+ max_num_nonzeros_ * sizeof(int) + // NOLINT
+ max_num_nonzeros_ * sizeof(double); // NOLINT
+
+ rows_.reset(new int[num_rows_ + 1]);
+ cols_.reset(new int[max_num_nonzeros_]);
+ values_.reset(new double[max_num_nonzeros_]);
+
+ // rows_ = 0
+ fill(rows_.get(), rows_.get() + num_rows_ + 1, 0);
+
+ // Copy the contents of the cols and values array in the order given
+ // by index and count the number of entries in each row.
+ for (int i = 0; i < m.num_nonzeros(); ++i) {
+ const int idx = index[i];
+ ++rows_[m.rows()[idx] + 1];
+ cols_[i] = m.cols()[idx];
+ values_[i] = m.values()[idx];
+ }
+
+ // Find the cumulative sum of the row counts.
+ for (int i = 1; i < num_rows_ + 1; ++i) {
+ rows_[i] += rows_[i-1];
+ }
+
+ CHECK_EQ(num_nonzeros(), m.num_nonzeros());
+}
+
+#ifndef CERES_NO_PROTOCOL_BUFFERS
+CompressedRowSparseMatrix::CompressedRowSparseMatrix(
+ const SparseMatrixProto& outer_proto) {
+ CHECK(outer_proto.has_compressed_row_matrix());
+
+ const CompressedRowSparseMatrixProto& proto =
+ outer_proto.compressed_row_matrix();
+
+ num_rows_ = proto.num_rows();
+ num_cols_ = proto.num_cols();
+
+ rows_.reset(new int[proto.rows_size()]);
+ cols_.reset(new int[proto.cols_size()]);
+ values_.reset(new double[proto.values_size()]);
+
+ for (int i = 0; i < proto.rows_size(); ++i) {
+ rows_[i] = proto.rows(i);
+ }
+
+ CHECK_EQ(proto.rows_size(), num_rows_ + 1);
+ CHECK_EQ(proto.cols_size(), proto.values_size());
+ CHECK_EQ(proto.cols_size(), rows_[num_rows_]);
+
+ for (int i = 0; i < proto.cols_size(); ++i) {
+ cols_[i] = proto.cols(i);
+ values_[i] = proto.values(i);
+ }
+
+ max_num_nonzeros_ = proto.cols_size();
+}
+#endif
+
+CompressedRowSparseMatrix::CompressedRowSparseMatrix(const double* diagonal,
+ int num_rows) {
+ CHECK_NOTNULL(diagonal);
+
+ num_rows_ = num_rows;
+ num_cols_ = num_rows;
+ max_num_nonzeros_ = num_rows;
+
+ rows_.reset(new int[num_rows_ + 1]);
+ cols_.reset(new int[num_rows_]);
+ values_.reset(new double[num_rows_]);
+
+ rows_[0] = 0;
+ for (int i = 0; i < num_rows_; ++i) {
+ cols_[i] = i;
+ values_[i] = diagonal[i];
+ rows_[i + 1] = i + 1;
+ }
+
+ CHECK_EQ(num_nonzeros(), num_rows);
+}
+
+CompressedRowSparseMatrix::~CompressedRowSparseMatrix() {
+}
+
+void CompressedRowSparseMatrix::SetZero() {
+ fill(values_.get(), values_.get() + num_nonzeros(), 0.0);
+}
+
+void CompressedRowSparseMatrix::RightMultiply(const double* x,
+ double* y) const {
+ CHECK_NOTNULL(x);
+ CHECK_NOTNULL(y);
+
+ for (int r = 0; r < num_rows_; ++r) {
+ for (int idx = rows_[r]; idx < rows_[r + 1]; ++idx) {
+ y[r] += values_[idx] * x[cols_[idx]];
+ }
+ }
+}
+
+void CompressedRowSparseMatrix::LeftMultiply(const double* x, double* y) const {
+ CHECK_NOTNULL(x);
+ CHECK_NOTNULL(y);
+
+ for (int r = 0; r < num_rows_; ++r) {
+ for (int idx = rows_[r]; idx < rows_[r + 1]; ++idx) {
+ y[cols_[idx]] += values_[idx] * x[r];
+ }
+ }
+}
+
+void CompressedRowSparseMatrix::SquaredColumnNorm(double* x) const {
+ CHECK_NOTNULL(x);
+
+ fill(x, x + num_cols_, 0.0);
+ for (int idx = 0; idx < rows_[num_rows_]; ++idx) {
+ x[cols_[idx]] += values_[idx] * values_[idx];
+ }
+}
+
+void CompressedRowSparseMatrix::ScaleColumns(const double* scale) {
+ CHECK_NOTNULL(scale);
+
+ for (int idx = 0; idx < rows_[num_rows_]; ++idx) {
+ values_[idx] *= scale[cols_[idx]];
+ }
+}
+
+void CompressedRowSparseMatrix::ToDenseMatrix(Matrix* dense_matrix) const {
+ CHECK_NOTNULL(dense_matrix);
+ dense_matrix->resize(num_rows_, num_cols_);
+ dense_matrix->setZero();
+
+ for (int r = 0; r < num_rows_; ++r) {
+ for (int idx = rows_[r]; idx < rows_[r + 1]; ++idx) {
+ (*dense_matrix)(r, cols_[idx]) = values_[idx];
+ }
+ }
+}
+
+#ifndef CERES_NO_PROTOCOL_BUFFERS
+void CompressedRowSparseMatrix::ToProto(SparseMatrixProto* outer_proto) const {
+ CHECK_NOTNULL(outer_proto);
+
+ outer_proto->Clear();
+ CompressedRowSparseMatrixProto* proto
+ = outer_proto->mutable_compressed_row_matrix();
+
+ proto->set_num_rows(num_rows_);
+ proto->set_num_cols(num_cols_);
+
+ for (int r = 0; r < num_rows_ + 1; ++r) {
+ proto->add_rows(rows_[r]);
+ }
+
+ for (int idx = 0; idx < rows_[num_rows_]; ++idx) {
+ proto->add_cols(cols_[idx]);
+ proto->add_values(values_[idx]);
+ }
+}
+#endif
+
+void CompressedRowSparseMatrix::DeleteRows(int delta_rows) {
+ CHECK_GE(delta_rows, 0);
+ CHECK_LE(delta_rows, num_rows_);
+
+ int new_num_rows = num_rows_ - delta_rows;
+
+ num_rows_ = new_num_rows;
+ int* new_rows = new int[num_rows_ + 1];
+ copy(rows_.get(), rows_.get() + num_rows_ + 1, new_rows);
+ rows_.reset(new_rows);
+}
+
+void CompressedRowSparseMatrix::AppendRows(const CompressedRowSparseMatrix& m) {
+ CHECK_EQ(m.num_cols(), num_cols_);
+
+ // Check if there is enough space. If not, then allocate new arrays
+ // to hold the combined matrix and copy the contents of this matrix
+ // into it.
+ if (max_num_nonzeros_ < num_nonzeros() + m.num_nonzeros()) {
+ int new_max_num_nonzeros = num_nonzeros() + m.num_nonzeros();
+
+ VLOG(1) << "Reallocating " << sizeof(int) * new_max_num_nonzeros; // NOLINT
+
+ int* new_cols = new int[new_max_num_nonzeros];
+ copy(cols_.get(), cols_.get() + max_num_nonzeros_, new_cols);
+ cols_.reset(new_cols);
+
+ double* new_values = new double[new_max_num_nonzeros];
+ copy(values_.get(), values_.get() + max_num_nonzeros_, new_values);
+ values_.reset(new_values);
+
+ max_num_nonzeros_ = new_max_num_nonzeros;
+ }
+
+ // Copy the contents of m into this matrix.
+ copy(m.cols(), m.cols() + m.num_nonzeros(), cols_.get() + num_nonzeros());
+ copy(m.values(),
+ m.values() + m.num_nonzeros(),
+ values_.get() + num_nonzeros());
+
+ // Create the new rows array to hold the enlarged matrix.
+ int* new_rows = new int[num_rows_ + m.num_rows() + 1];
+ // The first num_rows_ entries are the same
+ copy(rows_.get(), rows_.get() + num_rows_, new_rows);
+
+ // new_rows = [rows_, m.row() + rows_[num_rows_]]
+ fill(new_rows + num_rows_,
+ new_rows + num_rows_ + m.num_rows() + 1,
+ rows_[num_rows_]);
+
+ for (int r = 0; r < m.num_rows() + 1; ++r) {
+ new_rows[num_rows_ + r] += m.rows()[r];
+ }
+
+ rows_.reset(new_rows);
+ num_rows_ += m.num_rows();
+}
+
+void CompressedRowSparseMatrix::ToTextFile(FILE* file) const {
+ CHECK_NOTNULL(file);
+ for (int r = 0; r < num_rows_; ++r) {
+ for (int idx = rows_[r]; idx < rows_[r + 1]; ++idx) {
+ fprintf(file, "% 10d % 10d %17f\n", r, cols_[idx], values_[idx]);
+ }
+ }
+}
+
+void CompressedRowSparseMatrix::ToCRSMatrix(CRSMatrix* matrix) const {
+ matrix->num_rows = num_rows();
+ matrix->num_cols = num_cols();
+
+ matrix->rows.resize(matrix->num_rows + 1);
+ matrix->cols.resize(num_nonzeros());
+ matrix->values.resize(num_nonzeros());
+
+ copy(rows_.get(), rows_.get() + matrix->num_rows + 1, matrix->rows.begin());
+ copy(cols_.get(), cols_.get() + num_nonzeros(), matrix->cols.begin());
+ copy(values_.get(), values_.get() + num_nonzeros(), matrix->values.begin());
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/compressed_row_sparse_matrix.h b/internal/ceres/compressed_row_sparse_matrix.h
new file mode 100644
index 0000000..10f96c0
--- /dev/null
+++ b/internal/ceres/compressed_row_sparse_matrix.h
@@ -0,0 +1,149 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_COMPRESSED_ROW_SPARSE_MATRIX_H_
+#define CERES_INTERNAL_COMPRESSED_ROW_SPARSE_MATRIX_H_
+
+#include <vector>
+#include <glog/logging.h>
+#include "ceres/sparse_matrix.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/port.h"
+#include "ceres/types.h"
+
+namespace ceres {
+
+struct CRSMatrix;
+
+namespace internal {
+
+class SparseMatrixProto;
+
+class CompressedRowSparseMatrix : public SparseMatrix {
+ public:
+ // Build a matrix with the same content as the TripletSparseMatrix
+ // m. TripletSparseMatrix objects are easier to construct
+ // incrementally, so we use them to initialize SparseMatrix
+ // objects.
+ //
+ // We assume that m does not have any repeated entries.
+ explicit CompressedRowSparseMatrix(const TripletSparseMatrix& m);
+#ifndef CERES_NO_PROTOCOL_BUFFERS
+ explicit CompressedRowSparseMatrix(const SparseMatrixProto& proto);
+#endif
+
+ // Use this constructor only if you know what you are doing. This
+ // creates a "blank" matrix with the appropriate amount of memory
+ // allocated. However, the object itself is in an inconsistent state
+ // as the rows and cols matrices do not match the values of
+ // num_rows, num_cols and max_num_nonzeros.
+ //
+ // The use case for this constructor is that when the user knows the
+ // size of the matrix to begin with and wants to update the layout
+ // manually, instead of going via the indirect route of first
+ // constructing a TripletSparseMatrix, which leads to more than
+ // double the peak memory usage.
+ CompressedRowSparseMatrix(int num_rows,
+ int num_cols,
+ int max_num_nonzeros);
+
+ // Build a square sparse diagonal matrix with num_rows rows and
+ // columns. The diagonal m(i,i) = diagonal(i);
+ CompressedRowSparseMatrix(const double* diagonal, int num_rows);
+
+ virtual ~CompressedRowSparseMatrix();
+
+ // SparseMatrix interface.
+ virtual void SetZero();
+ virtual void RightMultiply(const double* x, double* y) const;
+ virtual void LeftMultiply(const double* x, double* y) const;
+ virtual void SquaredColumnNorm(double* x) const;
+ virtual void ScaleColumns(const double* scale);
+
+ virtual void ToDenseMatrix(Matrix* dense_matrix) const;
+#ifndef CERES_NO_PROTOCOL_BUFFERS
+ virtual void ToProto(SparseMatrixProto* proto) const;
+#endif
+ virtual void ToTextFile(FILE* file) const;
+ virtual int num_rows() const { return num_rows_; }
+ virtual int num_cols() const { return num_cols_; }
+ virtual int num_nonzeros() const { return rows_[num_rows_]; }
+ virtual const double* values() const { return values_.get(); }
+ virtual double* mutable_values() { return values_.get(); }
+
+ // Delete the bottom delta_rows.
+ // num_rows -= delta_rows
+ void DeleteRows(int delta_rows);
+
+ // Append the contents of m to the bottom of this matrix. m must
+ // have the same number of columns as this matrix.
+ void AppendRows(const CompressedRowSparseMatrix& m);
+
+ void ToCRSMatrix(CRSMatrix* matrix) const;
+
+ // Low level access methods that expose the structure of the matrix.
+ const int* cols() const { return cols_.get(); }
+ int* mutable_cols() { return cols_.get(); }
+
+ const int* rows() const { return rows_.get(); }
+ int* mutable_rows() { return rows_.get(); }
+
+ const vector<int>& row_blocks() const { return row_blocks_; }
+ vector<int>* mutable_row_blocks() { return &row_blocks_; }
+
+ const vector<int>& col_blocks() const { return col_blocks_; }
+ vector<int>* mutable_col_blocks() { return &col_blocks_; }
+
+ private:
+ scoped_array<int> cols_;
+ scoped_array<int> rows_;
+ scoped_array<double> values_;
+
+ int num_rows_;
+ int num_cols_;
+ int max_num_nonzeros_;
+
+ // If the matrix has an underlying block structure, then it can also
+ // carry with it row and column block sizes. This is auxilliary and
+ // optional information for use by algorithms operating on the
+ // matrix. The class itself does not make use of this information in
+ // any way.
+ vector<int> row_blocks_;
+ vector<int> col_blocks_;
+
+ CERES_DISALLOW_COPY_AND_ASSIGN(CompressedRowSparseMatrix);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_COMPRESSED_ROW_SPARSE_MATRIX_H_
diff --git a/internal/ceres/compressed_row_sparse_matrix_test.cc b/internal/ceres/compressed_row_sparse_matrix_test.cc
new file mode 100644
index 0000000..c9c3f14
--- /dev/null
+++ b/internal/ceres/compressed_row_sparse_matrix_test.cc
@@ -0,0 +1,203 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/compressed_row_sparse_matrix.h"
+
+#include "ceres/casts.h"
+#include "ceres/crs_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/matrix_proto.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+void CompareMatrices(const SparseMatrix* a, const SparseMatrix* b) {
+ EXPECT_EQ(a->num_rows(), b->num_rows());
+ EXPECT_EQ(a->num_cols(), b->num_cols());
+
+ int num_rows = a->num_rows();
+ int num_cols = a->num_cols();
+
+ for (int i = 0; i < num_cols; ++i) {
+ Vector x = Vector::Zero(num_cols);
+ x(i) = 1.0;
+
+ Vector y_a = Vector::Zero(num_rows);
+ Vector y_b = Vector::Zero(num_rows);
+
+ a->RightMultiply(x.data(), y_a.data());
+ b->RightMultiply(x.data(), y_b.data());
+
+ EXPECT_EQ((y_a - y_b).norm(), 0);
+ }
+}
+
+class CompressedRowSparseMatrixTest : public ::testing::Test {
+ protected :
+ virtual void SetUp() {
+ scoped_ptr<LinearLeastSquaresProblem> problem(
+ CreateLinearLeastSquaresProblemFromId(1));
+
+ CHECK_NOTNULL(problem.get());
+
+ tsm.reset(down_cast<TripletSparseMatrix*>(problem->A.release()));
+ crsm.reset(new CompressedRowSparseMatrix(*tsm));
+
+ num_rows = tsm->num_rows();
+ num_cols = tsm->num_cols();
+ }
+
+ int num_rows;
+ int num_cols;
+
+ scoped_ptr<TripletSparseMatrix> tsm;
+ scoped_ptr<CompressedRowSparseMatrix> crsm;
+};
+
+TEST_F(CompressedRowSparseMatrixTest, RightMultiply) {
+ CompareMatrices(tsm.get(), crsm.get());
+}
+
+TEST_F(CompressedRowSparseMatrixTest, LeftMultiply) {
+ for (int i = 0; i < num_rows; ++i) {
+ Vector a = Vector::Zero(num_rows);
+ a(i) = 1.0;
+
+ Vector b1 = Vector::Zero(num_cols);
+ Vector b2 = Vector::Zero(num_cols);
+
+ tsm->LeftMultiply(a.data(), b1.data());
+ crsm->LeftMultiply(a.data(), b2.data());
+
+ EXPECT_EQ((b1 - b2).norm(), 0);
+ }
+}
+
+TEST_F(CompressedRowSparseMatrixTest, ColumnNorm) {
+ Vector b1 = Vector::Zero(num_cols);
+ Vector b2 = Vector::Zero(num_cols);
+
+ tsm->SquaredColumnNorm(b1.data());
+ crsm->SquaredColumnNorm(b2.data());
+
+ EXPECT_EQ((b1 - b2).norm(), 0);
+}
+
+TEST_F(CompressedRowSparseMatrixTest, Scale) {
+ Vector scale(num_cols);
+ for (int i = 0; i < num_cols; ++i) {
+ scale(i) = i + 1;
+ }
+
+ tsm->ScaleColumns(scale.data());
+ crsm->ScaleColumns(scale.data());
+ CompareMatrices(tsm.get(), crsm.get());
+}
+
+TEST_F(CompressedRowSparseMatrixTest, DeleteRows) {
+ for (int i = 0; i < num_rows; ++i) {
+ tsm->Resize(num_rows - i, num_cols);
+ crsm->DeleteRows(crsm->num_rows() - tsm->num_rows());
+ CompareMatrices(tsm.get(), crsm.get());
+ }
+}
+
+TEST_F(CompressedRowSparseMatrixTest, AppendRows) {
+ for (int i = 0; i < num_rows; ++i) {
+ TripletSparseMatrix tsm_appendage(*tsm);
+ tsm_appendage.Resize(i, num_cols);
+
+ tsm->AppendRows(tsm_appendage);
+ CompressedRowSparseMatrix crsm_appendage(tsm_appendage);
+ crsm->AppendRows(crsm_appendage);
+
+ CompareMatrices(tsm.get(), crsm.get());
+ }
+}
+
+#ifndef CERES_NO_PROTOCOL_BUFFERS
+TEST_F(CompressedRowSparseMatrixTest, Serialization) {
+ SparseMatrixProto proto;
+ crsm->ToProto(&proto);
+
+ CompressedRowSparseMatrix n(proto);
+ ASSERT_EQ(n.num_rows(), crsm->num_rows());
+ ASSERT_EQ(n.num_cols(), crsm->num_cols());
+ ASSERT_EQ(n.num_nonzeros(), crsm->num_nonzeros());
+
+ for (int i = 0; i < n.num_rows() + 1; ++i) {
+ ASSERT_EQ(crsm->rows()[i], proto.compressed_row_matrix().rows(i));
+ ASSERT_EQ(crsm->rows()[i], n.rows()[i]);
+ }
+
+ for (int i = 0; i < crsm->num_nonzeros(); ++i) {
+ ASSERT_EQ(crsm->cols()[i], proto.compressed_row_matrix().cols(i));
+ ASSERT_EQ(crsm->cols()[i], n.cols()[i]);
+ ASSERT_EQ(crsm->values()[i], proto.compressed_row_matrix().values(i));
+ ASSERT_EQ(crsm->values()[i], n.values()[i]);
+ }
+}
+#endif
+
+TEST_F(CompressedRowSparseMatrixTest, ToDenseMatrix) {
+ Matrix tsm_dense;
+ Matrix crsm_dense;
+
+ tsm->ToDenseMatrix(&tsm_dense);
+ crsm->ToDenseMatrix(&crsm_dense);
+
+ EXPECT_EQ((tsm_dense - crsm_dense).norm(), 0.0);
+}
+
+TEST_F(CompressedRowSparseMatrixTest, ToCRSMatrix) {
+ CRSMatrix crs_matrix;
+ crsm->ToCRSMatrix(&crs_matrix);
+ EXPECT_EQ(crsm->num_rows(), crs_matrix.num_rows);
+ EXPECT_EQ(crsm->num_cols(), crs_matrix.num_cols);
+ EXPECT_EQ(crsm->num_rows() + 1, crs_matrix.rows.size());
+ EXPECT_EQ(crsm->num_nonzeros(), crs_matrix.cols.size());
+ EXPECT_EQ(crsm->num_nonzeros(), crs_matrix.values.size());
+
+ for (int i = 0; i < crsm->num_rows() + 1; ++i) {
+ EXPECT_EQ(crsm->rows()[i], crs_matrix.rows[i]);
+ }
+
+ for (int i = 0; i < crsm->num_nonzeros(); ++i) {
+ EXPECT_EQ(crsm->cols()[i], crs_matrix.cols[i]);
+ EXPECT_EQ(crsm->values()[i], crs_matrix.values[i]);
+ }
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/conditioned_cost_function.cc b/internal/ceres/conditioned_cost_function.cc
new file mode 100644
index 0000000..7322790
--- /dev/null
+++ b/internal/ceres/conditioned_cost_function.cc
@@ -0,0 +1,130 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wjr@google.com (William Rucklidge)
+//
+// This file contains the implementation of the conditioned cost function.
+
+#include "ceres/conditioned_cost_function.h"
+
+#include <cstddef>
+
+#include "ceres/internal/eigen.h"
+#include "ceres/stl_util.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+// This cost function has the same dimensions (parameters, residuals) as
+// the one it's wrapping.
+ConditionedCostFunction::ConditionedCostFunction(
+ CostFunction* wrapped_cost_function,
+ const vector<CostFunction*>& conditioners,
+ Ownership ownership)
+ : wrapped_cost_function_(wrapped_cost_function),
+ conditioners_(conditioners),
+ ownership_(ownership) {
+ // Set up our dimensions.
+ set_num_residuals(wrapped_cost_function_->num_residuals());
+ *mutable_parameter_block_sizes() =
+ wrapped_cost_function_->parameter_block_sizes();
+
+ // Sanity-check the conditioners' dimensions.
+ CHECK_EQ(wrapped_cost_function_->num_residuals(), conditioners_.size());
+ for (int i = 0; i < wrapped_cost_function_->num_residuals(); i++) {
+ if (conditioners[i]) {
+ CHECK_EQ(1, conditioners[i]->num_residuals());
+ CHECK_EQ(1, conditioners[i]->parameter_block_sizes().size());
+ CHECK_EQ(1, conditioners[i]->parameter_block_sizes()[0]);
+ }
+ }
+}
+
+ConditionedCostFunction::~ConditionedCostFunction() {
+ if (ownership_ == TAKE_OWNERSHIP) {
+ STLDeleteElements(&conditioners_);
+ } else {
+ wrapped_cost_function_.release();
+ }
+}
+
+bool ConditionedCostFunction::Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ bool success = wrapped_cost_function_->Evaluate(parameters, residuals,
+ jacobians);
+ if (!success) {
+ return false;
+ }
+
+ for (int r = 0; r < wrapped_cost_function_->num_residuals(); r++) {
+ // On output, we want to have
+ // residuals[r] = conditioners[r](wrapped_residuals[r])
+ // For parameter block i, column c,
+ // jacobians[i][r*parameter_block_size_[i] + c] =
+ // = d residual[r] / d parameters[i][c]
+ // = conditioners[r]'(wrapped_residuals[r]) *
+ // d wrapped_residuals[r] / d parameters[i][c]
+ if (conditioners_[r]) {
+ double conditioner_derivative;
+ double* conditioner_derivative_pointer = &conditioner_derivative;
+ double** conditioner_derivative_pointer2 =
+ &conditioner_derivative_pointer;
+ if (!jacobians) {
+ conditioner_derivative_pointer2 = NULL;
+ }
+
+ double unconditioned_residual = residuals[r];
+ double* parameter_pointer = &unconditioned_residual;
+ success = conditioners_[r]->Evaluate(¶meter_pointer,
+ &residuals[r],
+ conditioner_derivative_pointer2);
+ if (!success) {
+ return false;
+ }
+
+ if (jacobians) {
+ for (int i = 0;
+ i < wrapped_cost_function_->parameter_block_sizes().size();
+ i++) {
+ if (jacobians[i]) {
+ int parameter_block_size =
+ wrapped_cost_function_->parameter_block_sizes()[i];
+ VectorRef jacobian_row(jacobians[i] + r * parameter_block_size,
+ parameter_block_size, 1);
+ jacobian_row *= conditioner_derivative;
+ }
+ }
+ }
+ }
+ }
+ return true;
+}
+
+} // namespace ceres
diff --git a/internal/ceres/conditioned_cost_function_test.cc b/internal/ceres/conditioned_cost_function_test.cc
new file mode 100644
index 0000000..03c553f
--- /dev/null
+++ b/internal/ceres/conditioned_cost_function_test.cc
@@ -0,0 +1,126 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wjr@google.com (William Rucklidge)
+//
+// Tests for the conditioned cost function.
+
+#include "ceres/conditioned_cost_function.h"
+
+#include "ceres/internal/eigen.h"
+#include "ceres/normal_prior.h"
+#include "ceres/types.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+// The size of the cost functions we build.
+static const int kTestCostFunctionSize = 3;
+
+// A simple cost function: return ax + b.
+class LinearCostFunction : public CostFunction {
+ public:
+ LinearCostFunction(double a, double b) : a_(a), b_(b) {
+ set_num_residuals(1);
+ mutable_parameter_block_sizes()->push_back(1);
+ }
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ *residuals = **parameters * a_ + b_;
+ if (jacobians && *jacobians) {
+ **jacobians = a_;
+ }
+
+ return true;
+ }
+
+ private:
+ const double a_, b_;
+};
+
+// Tests that ConditionedCostFunction does what it's supposed to.
+TEST(CostFunctionTest, ConditionedCostFunction) {
+ double v1[kTestCostFunctionSize], v2[kTestCostFunctionSize],
+ jac[kTestCostFunctionSize * kTestCostFunctionSize],
+ result[kTestCostFunctionSize];
+
+ for (int i = 0; i < kTestCostFunctionSize; i++) {
+ v1[i] = i;
+ v2[i] = i * 10;
+ // Seed a few garbage values in the Jacobian matrix, to make sure that
+ // they're overwritten.
+ jac[i * 2] = i * i;
+ result[i] = i * i * i;
+ }
+
+ // Make a cost function that computes x - v2
+ VectorRef v2_vector(v2, kTestCostFunctionSize, 1);
+ Matrix identity(kTestCostFunctionSize, kTestCostFunctionSize);
+ identity.setIdentity();
+ NormalPrior* difference_cost_function = new NormalPrior(identity, v2_vector);
+
+ vector<CostFunction*> conditioners;
+ for (int i = 0; i < kTestCostFunctionSize; i++) {
+ conditioners.push_back(new LinearCostFunction(i + 2, i * 7));
+ }
+
+ ConditionedCostFunction conditioned_cost_function(difference_cost_function,
+ conditioners,
+ TAKE_OWNERSHIP);
+ EXPECT_EQ(difference_cost_function->num_residuals(),
+ conditioned_cost_function.num_residuals());
+ EXPECT_EQ(difference_cost_function->parameter_block_sizes(),
+ conditioned_cost_function.parameter_block_sizes());
+
+ double *parameters[1];
+ parameters[0] = v1;
+ double *jacs[1];
+ jacs[0] = jac;
+
+ conditioned_cost_function.Evaluate(parameters, result, jacs);
+ for (int i = 0; i < kTestCostFunctionSize; i++) {
+ EXPECT_DOUBLE_EQ((i + 2) * (v1[i] - v2[i]) + i * 7, result[i]);
+ }
+
+ for (int i = 0; i < kTestCostFunctionSize; i++) {
+ for (int j = 0; j < kTestCostFunctionSize; j++) {
+ double actual = jac[i * kTestCostFunctionSize + j];
+ if (i != j) {
+ EXPECT_DOUBLE_EQ(0, actual);
+ } else {
+ EXPECT_DOUBLE_EQ(i + 2, actual);
+ }
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/conjugate_gradients_solver.cc b/internal/ceres/conjugate_gradients_solver.cc
new file mode 100644
index 0000000..ae8e877
--- /dev/null
+++ b/internal/ceres/conjugate_gradients_solver.cc
@@ -0,0 +1,233 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// A preconditioned conjugate gradients solver
+// (ConjugateGradientsSolver) for positive semidefinite linear
+// systems.
+//
+// We have also augmented the termination criterion used by this
+// solver to support not just residual based termination but also
+// termination based on decrease in the value of the quadratic model
+// that CG optimizes.
+
+#include "ceres/conjugate_gradients_solver.h"
+
+#include <cmath>
+#include <cstddef>
+#include "ceres/fpclassify.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/linear_operator.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+namespace {
+
+bool IsZeroOrInfinity(double x) {
+ return ((x == 0.0) || (IsInfinite(x)));
+}
+
+// Constant used in the MATLAB implementation ~ 2 * eps.
+const double kEpsilon = 2.2204e-16;
+
+} // namespace
+
+ConjugateGradientsSolver::ConjugateGradientsSolver(
+ const LinearSolver::Options& options)
+ : options_(options) {
+}
+
+LinearSolver::Summary ConjugateGradientsSolver::Solve(
+ LinearOperator* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x) {
+ CHECK_NOTNULL(A);
+ CHECK_NOTNULL(x);
+ CHECK_NOTNULL(b);
+ CHECK_EQ(A->num_rows(), A->num_cols());
+
+ LinearSolver::Summary summary;
+ summary.termination_type = MAX_ITERATIONS;
+ summary.num_iterations = 0;
+
+ int num_cols = A->num_cols();
+ VectorRef xref(x, num_cols);
+ ConstVectorRef bref(b, num_cols);
+
+ double norm_b = bref.norm();
+ if (norm_b == 0.0) {
+ xref.setZero();
+ summary.termination_type = TOLERANCE;
+ return summary;
+ }
+
+ Vector r(num_cols);
+ Vector p(num_cols);
+ Vector z(num_cols);
+ Vector tmp(num_cols);
+
+ double tol_r = per_solve_options.r_tolerance * norm_b;
+
+ tmp.setZero();
+ A->RightMultiply(x, tmp.data());
+ r = bref - tmp;
+ double norm_r = r.norm();
+
+ if (norm_r <= tol_r) {
+ summary.termination_type = TOLERANCE;
+ return summary;
+ }
+
+ double rho = 1.0;
+
+ // Initial value of the quadratic model Q = x'Ax - 2 * b'x.
+ double Q0 = -1.0 * xref.dot(bref + r);
+
+ for (summary.num_iterations = 1;
+ summary.num_iterations < options_.max_num_iterations;
+ ++summary.num_iterations) {
+ VLOG(3) << "cg iteration " << summary.num_iterations;
+
+ // Apply preconditioner
+ if (per_solve_options.preconditioner != NULL) {
+ z.setZero();
+ per_solve_options.preconditioner->RightMultiply(r.data(), z.data());
+ } else {
+ z = r;
+ }
+
+ double last_rho = rho;
+ rho = r.dot(z);
+
+ if (IsZeroOrInfinity(rho)) {
+ LOG(ERROR) << "Numerical failure. rho = " << rho;
+ summary.termination_type = FAILURE;
+ break;
+ };
+
+ if (summary.num_iterations == 1) {
+ p = z;
+ } else {
+ double beta = rho / last_rho;
+ if (IsZeroOrInfinity(beta)) {
+ LOG(ERROR) << "Numerical failure. beta = " << beta;
+ summary.termination_type = FAILURE;
+ break;
+ }
+ p = z + beta * p;
+ }
+
+ Vector& q = z;
+ q.setZero();
+ A->RightMultiply(p.data(), q.data());
+ double pq = p.dot(q);
+
+ if ((pq <= 0) || IsInfinite(pq)) {
+ LOG(ERROR) << "Numerical failure. pq = " << pq;
+ summary.termination_type = FAILURE;
+ break;
+ }
+
+ double alpha = rho / pq;
+ if (IsInfinite(alpha)) {
+ LOG(ERROR) << "Numerical failure. alpha " << alpha;
+ summary.termination_type = FAILURE;
+ break;
+ }
+
+ xref = xref + alpha * p;
+
+ // Ideally we would just use the update r = r - alpha*q to keep
+ // track of the residual vector. However this estimate tends to
+ // drift over time due to round off errors. Thus every
+ // residual_reset_period iterations, we calculate the residual as
+ // r = b - Ax. We do not do this every iteration because this
+ // requires an additional matrix vector multiply which would
+ // double the complexity of the CG algorithm.
+ if (summary.num_iterations % options_.residual_reset_period == 0) {
+ tmp.setZero();
+ A->RightMultiply(x, tmp.data());
+ r = bref - tmp;
+ } else {
+ r = r - alpha * q;
+ }
+
+ // Quadratic model based termination.
+ // Q1 = x'Ax - 2 * b' x.
+ double Q1 = -1.0 * xref.dot(bref + r);
+
+ // For PSD matrices A, let
+ //
+ // Q(x) = x'Ax - 2b'x
+ //
+ // be the cost of the quadratic function defined by A and b. Then,
+ // the solver terminates at iteration i if
+ //
+ // i * (Q(x_i) - Q(x_i-1)) / Q(x_i) < q_tolerance.
+ //
+ // This termination criterion is more useful when using CG to
+ // solve the Newton step. This particular convergence test comes
+ // from Stephen Nash's work on truncated Newton
+ // methods. References:
+ //
+ // 1. Stephen G. Nash & Ariela Sofer, Assessing A Search
+ // Direction Within A Truncated Newton Method, Operation
+ // Research Letters 9(1990) 219-221.
+ //
+ // 2. Stephen G. Nash, A Survey of Truncated Newton Methods,
+ // Journal of Computational and Applied Mathematics,
+ // 124(1-2), 45-59, 2000.
+ //
+ double zeta = summary.num_iterations * (Q1 - Q0) / Q1;
+ VLOG(3) << "Q termination: zeta " << zeta
+ << " " << per_solve_options.q_tolerance;
+ if (zeta < per_solve_options.q_tolerance) {
+ summary.termination_type = TOLERANCE;
+ break;
+ }
+ Q0 = Q1;
+
+ // Residual based termination.
+ norm_r = r. norm();
+ VLOG(3) << "R termination: norm_r " << norm_r
+ << " " << tol_r;
+ if (norm_r <= tol_r) {
+ summary.termination_type = TOLERANCE;
+ break;
+ }
+ }
+
+ return summary;
+};
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/conjugate_gradients_solver.h b/internal/ceres/conjugate_gradients_solver.h
new file mode 100644
index 0000000..b8dfa56
--- /dev/null
+++ b/internal/ceres/conjugate_gradients_solver.h
@@ -0,0 +1,74 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Preconditioned Conjugate Gradients based solver for positive
+// semidefinite linear systems.
+
+#ifndef CERES_INTERNAL_CONJUGATE_GRADIENTS_SOLVER_H_
+#define CERES_INTERNAL_CONJUGATE_GRADIENTS_SOLVER_H_
+
+#include "ceres/linear_solver.h"
+#include "ceres/internal/macros.h"
+
+namespace ceres {
+namespace internal {
+
+class LinearOperator;
+
+// This class implements the now classical Conjugate Gradients
+// algorithm of Hestenes & Stiefel for solving postive semidefinite
+// linear sytems. Optionally it can use a preconditioner also to
+// reduce the condition number of the linear system and improve the
+// convergence rate. Modern references for Conjugate Gradients are the
+// books by Yousef Saad and Trefethen & Bau. This implementation of CG
+// has been augmented with additional termination tests that are
+// needed for forcing early termination when used as part of an
+// inexact Newton solver.
+//
+// For more details see the documentation for
+// LinearSolver::PerSolveOptions::r_tolerance and
+// LinearSolver::PerSolveOptions::q_tolerance in linear_solver.h.
+class ConjugateGradientsSolver : public LinearSolver {
+ public:
+ explicit ConjugateGradientsSolver(const LinearSolver::Options& options);
+ virtual Summary Solve(LinearOperator* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x);
+
+ private:
+ const LinearSolver::Options options_;
+ CERES_DISALLOW_COPY_AND_ASSIGN(ConjugateGradientsSolver);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_CONJUGATE_GRADIENTS_SOLVER_H_
diff --git a/internal/ceres/coordinate_descent_minimizer.cc b/internal/ceres/coordinate_descent_minimizer.cc
new file mode 100644
index 0000000..5ce110c
--- /dev/null
+++ b/internal/ceres/coordinate_descent_minimizer.cc
@@ -0,0 +1,235 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/coordinate_descent_minimizer.h"
+
+#ifdef CERES_USE_OPENMP
+#include <omp.h>
+#endif
+
+#include <iterator>
+#include <numeric>
+#include <vector>
+#include "ceres/evaluator.h"
+#include "ceres/linear_solver.h"
+#include "ceres/minimizer.h"
+#include "ceres/ordered_groups.h"
+#include "ceres/parameter_block.h"
+#include "ceres/problem_impl.h"
+#include "ceres/program.h"
+#include "ceres/residual_block.h"
+#include "ceres/solver.h"
+#include "ceres/solver_impl.h"
+#include "ceres/trust_region_minimizer.h"
+#include "ceres/trust_region_strategy.h"
+
+namespace ceres {
+namespace internal {
+
+CoordinateDescentMinimizer::~CoordinateDescentMinimizer() {
+}
+
+bool CoordinateDescentMinimizer::Init(
+ const Program& program,
+ const ProblemImpl::ParameterMap& parameter_map,
+ const ParameterBlockOrdering& ordering,
+ string* error) {
+ parameter_blocks_.clear();
+ independent_set_offsets_.clear();
+ independent_set_offsets_.push_back(0);
+
+ // Serialize the OrderedGroups into a vector of parameter block
+ // offsets for parallel access.
+ map<ParameterBlock*, int> parameter_block_index;
+ map<int, set<double*> > group_to_elements = ordering.group_to_elements();
+ for (map<int, set<double*> >::const_iterator it = group_to_elements.begin();
+ it != group_to_elements.end();
+ ++it) {
+ for (set<double*>::const_iterator ptr_it = it->second.begin();
+ ptr_it != it->second.end();
+ ++ptr_it) {
+ parameter_blocks_.push_back(parameter_map.find(*ptr_it)->second);
+ parameter_block_index[parameter_blocks_.back()] =
+ parameter_blocks_.size() - 1;
+ }
+ independent_set_offsets_.push_back(
+ independent_set_offsets_.back() + it->second.size());
+ }
+
+ // The ordering does not have to contain all parameter blocks, so
+ // assign zero offsets/empty independent sets to these parameter
+ // blocks.
+ const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks();
+ for (int i = 0; i < parameter_blocks.size(); ++i) {
+ if (!ordering.IsMember(parameter_blocks[i]->mutable_user_state())) {
+ parameter_blocks_.push_back(parameter_blocks[i]);
+ independent_set_offsets_.push_back(independent_set_offsets_.back());
+ }
+ }
+
+ // Compute the set of residual blocks that depend on each parameter
+ // block.
+ residual_blocks_.resize(parameter_block_index.size());
+ const vector<ResidualBlock*>& residual_blocks = program.residual_blocks();
+ for (int i = 0; i < residual_blocks.size(); ++i) {
+ ResidualBlock* residual_block = residual_blocks[i];
+ const int num_parameter_blocks = residual_block->NumParameterBlocks();
+ for (int j = 0; j < num_parameter_blocks; ++j) {
+ ParameterBlock* parameter_block = residual_block->parameter_blocks()[j];
+ const map<ParameterBlock*, int>::const_iterator it =
+ parameter_block_index.find(parameter_block);
+ if (it != parameter_block_index.end()) {
+ residual_blocks_[it->second].push_back(residual_block);
+ }
+ }
+ }
+
+ evaluator_options_.linear_solver_type = DENSE_QR;
+ evaluator_options_.num_eliminate_blocks = 0;
+ evaluator_options_.num_threads = 1;
+
+ return true;
+}
+
+void CoordinateDescentMinimizer::Minimize(
+ const Minimizer::Options& options,
+ double* parameters,
+ Solver::Summary* summary) {
+ // Set the state and mark all parameter blocks constant.
+ for (int i = 0; i < parameter_blocks_.size(); ++i) {
+ ParameterBlock* parameter_block = parameter_blocks_[i];
+ parameter_block->SetState(parameters + parameter_block->state_offset());
+ parameter_block->SetConstant();
+ }
+
+ scoped_array<LinearSolver*> linear_solvers(new LinearSolver*[options.num_threads]);
+
+ LinearSolver::Options linear_solver_options;
+ linear_solver_options.type = DENSE_QR;
+
+ for (int i = 0; i < options.num_threads; ++i) {
+ linear_solvers[i] = LinearSolver::Create(linear_solver_options);
+ }
+
+ for (int i = 0; i < independent_set_offsets_.size() - 1; ++i) {
+ // No point paying the price for an OpemMP call if the set if of
+ // size zero.
+ if (independent_set_offsets_[i] == independent_set_offsets_[i + 1]) {
+ continue;
+ }
+
+ // The parameter blocks in each independent set can be optimized
+ // in parallel, since they do not co-occur in any residual block.
+#pragma omp parallel for num_threads(options.num_threads)
+ for (int j = independent_set_offsets_[i];
+ j < independent_set_offsets_[i + 1];
+ ++j) {
+#ifdef CERES_USE_OPENMP
+ int thread_id = omp_get_thread_num();
+#else
+ int thread_id = 0;
+#endif
+
+ ParameterBlock* parameter_block = parameter_blocks_[j];
+ const int old_index = parameter_block->index();
+ const int old_delta_offset = parameter_block->delta_offset();
+ parameter_block->SetVarying();
+ parameter_block->set_index(0);
+ parameter_block->set_delta_offset(0);
+
+ Program inner_program;
+ inner_program.mutable_parameter_blocks()->push_back(parameter_block);
+ *inner_program.mutable_residual_blocks() = residual_blocks_[j];
+
+ // TODO(sameeragarwal): Better error handling. Right now we
+ // assume that this is not going to lead to problems of any
+ // sort. Basically we should be checking for numerical failure
+ // of some sort.
+ //
+ // On the other hand, if the optimization is a failure, that in
+ // some ways is fine, since it won't change the parameters and
+ // we are fine.
+ Solver::Summary inner_summary;
+ Solve(&inner_program,
+ linear_solvers[thread_id],
+ parameters + parameter_block->state_offset(),
+ &inner_summary);
+
+ parameter_block->set_index(old_index);
+ parameter_block->set_delta_offset(old_delta_offset);
+ parameter_block->SetState(parameters + parameter_block->state_offset());
+ parameter_block->SetConstant();
+ }
+ }
+
+ for (int i = 0; i < parameter_blocks_.size(); ++i) {
+ parameter_blocks_[i]->SetVarying();
+ }
+
+ for (int i = 0; i < options.num_threads; ++i) {
+ delete linear_solvers[i];
+ }
+}
+
+// Solve the optimization problem for one parameter block.
+void CoordinateDescentMinimizer::Solve(Program* program,
+ LinearSolver* linear_solver,
+ double* parameter,
+ Solver::Summary* summary) {
+ *summary = Solver::Summary();
+ summary->initial_cost = 0.0;
+ summary->fixed_cost = 0.0;
+ summary->final_cost = 0.0;
+ string error;
+
+ scoped_ptr<Evaluator> evaluator(
+ Evaluator::Create(evaluator_options_, program, &error));
+ CHECK_NOTNULL(evaluator.get());
+
+ scoped_ptr<SparseMatrix> jacobian(evaluator->CreateJacobian());
+ CHECK_NOTNULL(jacobian.get());
+
+ TrustRegionStrategy::Options trs_options;
+ trs_options.linear_solver = linear_solver;
+
+ scoped_ptr<TrustRegionStrategy>trust_region_strategy(
+ CHECK_NOTNULL(TrustRegionStrategy::Create(trs_options)));
+
+ Minimizer::Options minimizer_options;
+ minimizer_options.evaluator = evaluator.get();
+ minimizer_options.jacobian = jacobian.get();
+ minimizer_options.trust_region_strategy = trust_region_strategy.get();
+
+ TrustRegionMinimizer minimizer;
+ minimizer.Minimize(minimizer_options, parameter, summary);
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/coordinate_descent_minimizer.h b/internal/ceres/coordinate_descent_minimizer.h
new file mode 100644
index 0000000..fb96b3c
--- /dev/null
+++ b/internal/ceres/coordinate_descent_minimizer.h
@@ -0,0 +1,86 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_COORDINATE_DESCENT_MINIMIZER_H_
+#define CERES_INTERNAL_COORDINATE_DESCENT_MINIMIZER_H_
+
+#include "ceres/evaluator.h"
+#include "ceres/minimizer.h"
+#include "ceres/problem_impl.h"
+#include "ceres/program.h"
+#include "ceres/solver.h"
+
+namespace ceres {
+namespace internal {
+
+// Given a Program, and a ParameterBlockOrdering which partitions
+// (non-exhaustively) the Hessian matrix into independent sets,
+// perform coordinate descent on the parameter blocks in the
+// ordering. The independent set structure allows for all parameter
+// blocks in the same independent set to be optimized in parallel, and
+// the order of the independent set determines the order in which the
+// parameter block groups are optimized.
+//
+// The minimizer assumes that none of the parameter blocks in the
+// program are constant.
+class CoordinateDescentMinimizer : public Minimizer {
+ public:
+ bool Init(const Program& program,
+ const ProblemImpl::ParameterMap& parameter_map,
+ const ParameterBlockOrdering& ordering,
+ string* error);
+
+ // Minimizer interface.
+ virtual ~CoordinateDescentMinimizer();
+ virtual void Minimize(const Minimizer::Options& options,
+ double* parameters,
+ Solver::Summary* summary);
+
+ private:
+ void Solve(Program* program,
+ LinearSolver* linear_solver,
+ double* parameters,
+ Solver::Summary* summary);
+
+ vector<ParameterBlock*> parameter_blocks_;
+ vector<vector<ResidualBlock*> > residual_blocks_;
+ // The optimization is performed in rounds. In each round all the
+ // parameter blocks that form one independent set are optimized in
+ // parallel. This array, marks the boundaries of the independent
+ // sets in parameter_blocks_.
+ vector<int> independent_set_offsets_;
+
+ Evaluator::Options evaluator_options_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_COORDINATE_DESCENT_MINIMIZER_H_
diff --git a/internal/ceres/corrector.cc b/internal/ceres/corrector.cc
new file mode 100644
index 0000000..eff4dff
--- /dev/null
+++ b/internal/ceres/corrector.cc
@@ -0,0 +1,125 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/corrector.h"
+
+#include <cstddef>
+#include <cmath>
+#include "ceres/internal/eigen.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+Corrector::Corrector(double sq_norm, const double rho[3]) {
+ CHECK_GE(sq_norm, 0.0);
+ CHECK_GT(rho[1], 0.0);
+ sqrt_rho1_ = sqrt(rho[1]);
+
+ // If sq_norm = 0.0, the correction becomes trivial, the residual
+ // and the jacobian are scaled by the squareroot of the derivative
+ // of rho. Handling this case explicitly avoids the divide by zero
+ // error that would occur below.
+ //
+ // The case where rho'' < 0 also gets special handling. Technically
+ // it shouldn't, and the computation of the scaling should proceed
+ // as below, however we found in experiments that applying the
+ // curvature correction when rho'' < 0, which is the case when we
+ // are in the outlier region slows down the convergence of the
+ // algorithm significantly.
+ //
+ // Thus, we have divided the action of the robustifier into two
+ // parts. In the inliner region, we do the full second order
+ // correction which re-wights the gradient of the function by the
+ // square root of the derivative of rho, and the Gauss-Newton
+ // Hessian gets both the scaling and the rank-1 curvature
+ // correction. Normaly, alpha is upper bounded by one, but with this
+ // change, alpha is bounded above by zero.
+ //
+ // Empirically we have observed that the full Triggs correction and
+ // the clamped correction both start out as very good approximations
+ // to the loss function when we are in the convex part of the
+ // function, but as the function starts transitioning from convex to
+ // concave, the Triggs approximation diverges more and more and
+ // ultimately becomes linear. The clamped Triggs model however
+ // remains quadratic.
+ //
+ // The reason why the Triggs approximation becomes so poor is
+ // because the curvature correction that it applies to the gauss
+ // newton hessian goes from being a full rank correction to a rank
+ // deficient correction making the inversion of the Hessian fraught
+ // with all sorts of misery and suffering.
+ //
+ // The clamped correction retains its quadratic nature and inverting it
+ // is always well formed.
+ if ((sq_norm == 0.0) || (rho[2] <= 0.0)) {
+ residual_scaling_ = sqrt_rho1_;
+ alpha_sq_norm_ = 0.0;
+ return;
+ }
+
+ // Calculate the smaller of the two solutions to the equation
+ //
+ // 0.5 * alpha^2 - alpha - rho'' / rho' * z'z = 0.
+ //
+ // Start by calculating the discriminant D.
+ const double D = 1.0 + 2.0 * sq_norm*rho[2] / rho[1];
+
+ // Since both rho[1] and rho[2] are guaranteed to be positive at
+ // this point, we know that D > 1.0.
+
+ const double alpha = 1.0 - sqrt(D);
+
+ // Calculate the constants needed by the correction routines.
+ residual_scaling_ = sqrt_rho1_ / (1 - alpha);
+ alpha_sq_norm_ = alpha / sq_norm;
+}
+
+void Corrector::CorrectResiduals(int nrow, double* residuals) {
+ DCHECK(residuals != NULL);
+ VectorRef r_ref(residuals, nrow);
+ // Equation 11 in BANS.
+ r_ref *= residual_scaling_;
+}
+
+void Corrector::CorrectJacobian(int nrow, int ncol,
+ double* residuals, double* jacobian) {
+ DCHECK(residuals != NULL);
+ DCHECK(jacobian != NULL);
+ ConstVectorRef r_ref(residuals, nrow);
+ MatrixRef j_ref(jacobian, nrow, ncol);
+
+ // Equation 11 in BANS.
+ j_ref = sqrt_rho1_ * (j_ref - alpha_sq_norm_ *
+ r_ref * (r_ref.transpose() * j_ref));
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/corrector.h b/internal/ceres/corrector.h
new file mode 100644
index 0000000..9914641
--- /dev/null
+++ b/internal/ceres/corrector.h
@@ -0,0 +1,88 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Class definition for the object that is responsible for applying a
+// second order correction to the Gauss-Newton based on the ideas in
+// BANS by Triggs et al.
+
+#ifndef CERES_INTERNAL_CORRECTOR_H_
+#define CERES_INTERNAL_CORRECTOR_H_
+
+namespace ceres {
+namespace internal {
+
+// Corrector is responsible for applying the second order correction
+// to the residual and jacobian of a least squares problem based on a
+// radial robust loss.
+//
+// The key idea here is to look at the expressions for the robustified
+// gauss newton approximation and then take its squareroot to get the
+// corresponding corrections to the residual and jacobian. For the
+// full expressions see Eq. 10 and 11 in BANS by Triggs et al.
+class Corrector {
+ public:
+ // The constructor takes the squared norm, the value, the first and
+ // second derivatives of the LossFunction. It precalculates some of
+ // the constants that are needed to apply the correction. The
+ // correction constant alpha is constrained to be smaller than 1, if
+ // it becomes larger than 1, then it will reverse the sign of the
+ // residual and the correction. If alpha is equal to 1 will result
+ // in a divide by zero error. Thus we constrain alpha to be upper
+ // bounded by 1 - epsilon_.
+ //
+ // rho[1] needs to be positive. The constructor will crash if this
+ // condition is not met.
+ //
+ // In practical use CorrectJacobian should always be called before
+ // CorrectResidual, because the jacobian correction depends on the
+ // value of the uncorrected residual values.
+ explicit Corrector(double sq_norm, const double rho[3]);
+
+ // residuals *= sqrt(rho[1]) / (1 - alpha)
+ void CorrectResiduals(int nrow, double* residuals);
+
+ // jacobian = sqrt(rho[1]) * jacobian -
+ // sqrt(rho[1]) * alpha / sq_norm * residuals residuals' * jacobian.
+ //
+ // The method assumes that the jacobian has row-major storage. It is
+ // the caller's responsibility to ensure that the pointer to
+ // jacobian is not null.
+ void CorrectJacobian(int nrow, int ncol,
+ double* residuals, double* jacobian);
+
+ private:
+ double sqrt_rho1_;
+ double residual_scaling_;
+ double alpha_sq_norm_;
+};
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_CORRECTOR_H_
diff --git a/internal/ceres/corrector_test.cc b/internal/ceres/corrector_test.cc
new file mode 100644
index 0000000..55e7d6b
--- /dev/null
+++ b/internal/ceres/corrector_test.cc
@@ -0,0 +1,276 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/corrector.h"
+
+#include <algorithm>
+#include <cmath>
+#include <cstring>
+#include <cstdlib>
+#include "gtest/gtest.h"
+#include "ceres/random.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+// If rho[1] is zero, the Corrector constructor should crash.
+TEST(Corrector, ZeroGradientDeathTest) {
+ const double kRho[] = {0.0, 0.0, 0.0};
+ EXPECT_DEATH_IF_SUPPORTED({Corrector c(1.0, kRho);},
+ ".*");
+}
+
+// If rho[1] is negative, the Corrector constructor should crash.
+TEST(Corrector, NegativeGradientDeathTest) {
+ const double kRho[] = {0.0, -0.1, 0.0};
+ EXPECT_DEATH_IF_SUPPORTED({Corrector c(1.0, kRho);},
+ ".*");
+}
+
+TEST(Corrector, ScalarCorrection) {
+ double residuals = sqrt(3.0);
+ double jacobian = 10.0;
+ double sq_norm = residuals * residuals;
+
+ const double kRho[] = {sq_norm, 0.1, -0.01};
+
+ // In light of the rho'' < 0 clamping now implemented in
+ // corrector.cc, alpha = 0 whenever rho'' < 0.
+ const double kAlpha = 0.0;
+
+ // Thus the expected value of the residual is
+ // residual[i] * sqrt(kRho[1]) / (1.0 - kAlpha).
+ const double kExpectedResidual =
+ residuals * sqrt(kRho[1]) / (1 - kAlpha);
+
+ // The jacobian in this case will be
+ // sqrt(kRho[1]) * (1 - kAlpha) * jacobian.
+ const double kExpectedJacobian = sqrt(kRho[1]) * (1 - kAlpha) * jacobian;
+
+ Corrector c(sq_norm, kRho);
+ c.CorrectJacobian(1.0, 1.0, &residuals, &jacobian);
+ c.CorrectResiduals(1.0, &residuals);
+
+ ASSERT_NEAR(residuals, kExpectedResidual, 1e-6);
+ ASSERT_NEAR(kExpectedJacobian, jacobian, 1e-6);
+}
+
+TEST(Corrector, ScalarCorrectionZeroResidual) {
+ double residuals = 0.0;
+ double jacobian = 10.0;
+ double sq_norm = residuals * residuals;
+
+ const double kRho[] = {0.0, 0.1, -0.01};
+ Corrector c(sq_norm, kRho);
+
+ // The alpha equation is
+ // 1/2 alpha^2 - alpha + 0.0 = 0.
+ // i.e. alpha = 1.0 - sqrt(1.0).
+ // alpha = 0.0.
+ // Thus the expected value of the residual is
+ // residual[i] * sqrt(kRho[1])
+ const double kExpectedResidual = residuals * sqrt(kRho[1]);
+
+ // The jacobian in this case will be
+ // sqrt(kRho[1]) * jacobian.
+ const double kExpectedJacobian = sqrt(kRho[1]) * jacobian;
+
+ c.CorrectJacobian(1, 1, &residuals, &jacobian);
+ c.CorrectResiduals(1, &residuals);
+
+ ASSERT_NEAR(residuals, kExpectedResidual, 1e-6);
+ ASSERT_NEAR(kExpectedJacobian, jacobian, 1e-6);
+}
+
+// Scaling behaviour for one dimensional functions.
+TEST(Corrector, ScalarCorrectionAlphaClamped) {
+ double residuals = sqrt(3.0);
+ double jacobian = 10.0;
+ double sq_norm = residuals * residuals;
+
+ const double kRho[] = {3, 0.1, -0.1};
+
+ // rho[2] < 0 -> alpha = 0.0
+ const double kAlpha = 0.0;
+
+ // Thus the expected value of the residual is
+ // residual[i] * sqrt(kRho[1]) / (1.0 - kAlpha).
+ const double kExpectedResidual =
+ residuals * sqrt(kRho[1]) / (1.0 - kAlpha);
+
+ // The jacobian in this case will be scaled by
+ // sqrt(rho[1]) * (1 - alpha) * J.
+ const double kExpectedJacobian = sqrt(kRho[1]) *
+ (1.0 - kAlpha) * jacobian;
+
+ Corrector c(sq_norm, kRho);
+ c.CorrectJacobian(1, 1, &residuals, &jacobian);
+ c.CorrectResiduals(1, &residuals);
+
+ ASSERT_NEAR(residuals, kExpectedResidual, 1e-6);
+ ASSERT_NEAR(kExpectedJacobian, jacobian, 1e-6);
+}
+
+// Test that the corrected multidimensional residual and jacobians
+// match the expected values and the resulting modified normal
+// equations match the robustified gauss newton approximation.
+TEST(Corrector, MultidimensionalGaussNewtonApproximation) {
+ double residuals[3];
+ double jacobian[2 * 3];
+ double rho[3];
+
+ // Eigen matrix references for linear algebra.
+ MatrixRef jac(jacobian, 3, 2);
+ VectorRef res(residuals, 3);
+
+ // Ground truth values of the modified jacobian and residuals.
+ Matrix g_jac(3, 2);
+ Vector g_res(3);
+
+ // Ground truth values of the robustified Gauss-Newton
+ // approximation.
+ Matrix g_hess(2, 2);
+ Vector g_grad(2);
+
+ // Corrected hessian and gradient implied by the modified jacobian
+ // and hessians.
+ Matrix c_hess(2, 2);
+ Vector c_grad(2);
+
+ srand(5);
+ for (int iter = 0; iter < 10000; ++iter) {
+ // Initialize the jacobian and residual.
+ for (int i = 0; i < 2 * 3; ++i)
+ jacobian[i] = RandDouble();
+ for (int i = 0; i < 3; ++i)
+ residuals[i] = RandDouble();
+
+ const double sq_norm = res.dot(res);
+
+ rho[0] = sq_norm;
+ rho[1] = RandDouble();
+ rho[2] = 2.0 * RandDouble() - 1.0;
+
+ // If rho[2] > 0, then the curvature correction to the correction
+ // and the gauss newton approximation will match. Otherwise, we
+ // will clamp alpha to 0.
+
+ const double kD = 1 + 2 * rho[2] / rho[1] * sq_norm;
+ const double kAlpha = (rho[2] > 0.0) ? 1 - sqrt(kD) : 0.0;
+
+ // Ground truth values.
+ g_res = sqrt(rho[1]) / (1.0 - kAlpha) * res;
+ g_jac = sqrt(rho[1]) * (jac - kAlpha / sq_norm *
+ res * res.transpose() * jac);
+
+ g_grad = rho[1] * jac.transpose() * res;
+ g_hess = rho[1] * jac.transpose() * jac +
+ 2.0 * rho[2] * jac.transpose() * res * res.transpose() * jac;
+
+ Corrector c(sq_norm, rho);
+ c.CorrectJacobian(3, 2, residuals, jacobian);
+ c.CorrectResiduals(3, residuals);
+
+ // Corrected gradient and hessian.
+ c_grad = jac.transpose() * res;
+ c_hess = jac.transpose() * jac;
+
+ ASSERT_NEAR((g_res - res).norm(), 0.0, 1e-10);
+ ASSERT_NEAR((g_jac - jac).norm(), 0.0, 1e-10);
+
+ ASSERT_NEAR((g_grad - c_grad).norm(), 0.0, 1e-10);
+ }
+}
+
+TEST(Corrector, MultidimensionalGaussNewtonApproximationZeroResidual) {
+ double residuals[3];
+ double jacobian[2 * 3];
+ double rho[3];
+
+ // Eigen matrix references for linear algebra.
+ MatrixRef jac(jacobian, 3, 2);
+ VectorRef res(residuals, 3);
+
+ // Ground truth values of the modified jacobian and residuals.
+ Matrix g_jac(3, 2);
+ Vector g_res(3);
+
+ // Ground truth values of the robustified Gauss-Newton
+ // approximation.
+ Matrix g_hess(2, 2);
+ Vector g_grad(2);
+
+ // Corrected hessian and gradient implied by the modified jacobian
+ // and hessians.
+ Matrix c_hess(2, 2);
+ Vector c_grad(2);
+
+ srand(5);
+ for (int iter = 0; iter < 10000; ++iter) {
+ // Initialize the jacobian.
+ for (int i = 0; i < 2 * 3; ++i)
+ jacobian[i] = RandDouble();
+
+ // Zero residuals
+ res.setZero();
+
+ const double sq_norm = res.dot(res);
+
+ rho[0] = sq_norm;
+ rho[1] = RandDouble();
+ rho[2] = 2 * RandDouble() - 1.0;
+
+ // Ground truth values.
+ g_res = sqrt(rho[1]) * res;
+ g_jac = sqrt(rho[1]) * jac;
+
+ g_grad = rho[1] * jac.transpose() * res;
+ g_hess = rho[1] * jac.transpose() * jac +
+ 2.0 * rho[2] * jac.transpose() * res * res.transpose() * jac;
+
+ Corrector c(sq_norm, rho);
+ c.CorrectJacobian(3, 2, residuals, jacobian);
+ c.CorrectResiduals(3, residuals);
+
+ // Corrected gradient and hessian.
+ c_grad = jac.transpose() * res;
+ c_hess = jac.transpose() * jac;
+
+ ASSERT_NEAR((g_res - res).norm(), 0.0, 1e-10);
+ ASSERT_NEAR((g_jac - jac).norm(), 0.0, 1e-10);
+
+ ASSERT_NEAR((g_grad - c_grad).norm(), 0.0, 1e-10);
+ ASSERT_NEAR((g_hess - c_hess).norm(), 0.0, 1e-10);
+ }
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/cxsparse.cc b/internal/ceres/cxsparse.cc
new file mode 100644
index 0000000..21c98e0
--- /dev/null
+++ b/internal/ceres/cxsparse.cc
@@ -0,0 +1,130 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: strandmark@google.com (Petter Strandmark)
+
+#ifndef CERES_NO_CXSPARSE
+
+#include "ceres/cxsparse.h"
+
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+CXSparse::CXSparse() : scratch_(NULL), scratch_size_(0) {
+}
+
+CXSparse::~CXSparse() {
+ if (scratch_size_ > 0) {
+ cs_free(scratch_);
+ }
+}
+
+bool CXSparse::SolveCholesky(cs_di* A,
+ cs_dis* symbolic_factorization,
+ double* b) {
+ // Make sure we have enough scratch space available.
+ if (scratch_size_ < A->n) {
+ if (scratch_size_ > 0) {
+ cs_free(scratch_);
+ }
+ scratch_ = reinterpret_cast<CS_ENTRY*>(cs_malloc(A->n, sizeof(CS_ENTRY)));
+ }
+
+ // Solve using Cholesky factorization
+ csn* numeric_factorization = cs_chol(A, symbolic_factorization);
+ if (numeric_factorization == NULL) {
+ LOG(WARNING) << "Cholesky factorization failed.";
+ return false;
+ }
+
+ // When the Cholesky factorization succeeded, these methods are guaranteed to
+ // succeeded as well. In the comments below, "x" refers to the scratch space.
+ //
+ // Set x = P * b.
+ cs_ipvec(symbolic_factorization->pinv, b, scratch_, A->n);
+
+ // Set x = L \ x.
+ cs_lsolve(numeric_factorization->L, scratch_);
+
+ // Set x = L' \ x.
+ cs_ltsolve(numeric_factorization->L, scratch_);
+
+ // Set b = P' * x.
+ cs_pvec(symbolic_factorization->pinv, scratch_, b, A->n);
+
+ // Free Cholesky factorization.
+ cs_nfree(numeric_factorization);
+ return true;
+}
+
+cs_dis* CXSparse::AnalyzeCholesky(cs_di* A) {
+ // order = 1 for Cholesky factorization.
+ return cs_schol(1, A);
+}
+
+cs_di CXSparse::CreateSparseMatrixTransposeView(CompressedRowSparseMatrix* A) {
+ cs_di At;
+ At.m = A->num_cols();
+ At.n = A->num_rows();
+ At.nz = -1;
+ At.nzmax = A->num_nonzeros();
+ At.p = A->mutable_rows();
+ At.i = A->mutable_cols();
+ At.x = A->mutable_values();
+ return At;
+}
+
+cs_di* CXSparse::CreateSparseMatrix(TripletSparseMatrix* tsm) {
+ cs_di_sparse tsm_wrapper;
+ tsm_wrapper.nzmax = tsm->num_nonzeros();;
+ tsm_wrapper.nz = tsm->num_nonzeros();;
+ tsm_wrapper.m = tsm->num_rows();
+ tsm_wrapper.n = tsm->num_cols();
+ tsm_wrapper.p = tsm->mutable_cols();
+ tsm_wrapper.i = tsm->mutable_rows();
+ tsm_wrapper.x = tsm->mutable_values();
+
+ return cs_compress(&tsm_wrapper);
+}
+
+void CXSparse::Free(cs_di* factor) {
+ cs_free(factor);
+}
+
+void CXSparse::Free(cs_dis* factor) {
+ cs_sfree(factor);
+}
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_NO_CXSPARSE
diff --git a/internal/ceres/cxsparse.h b/internal/ceres/cxsparse.h
new file mode 100644
index 0000000..d3b64fc
--- /dev/null
+++ b/internal/ceres/cxsparse.h
@@ -0,0 +1,90 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: strandmark@google.com (Petter Strandmark)
+
+#ifndef CERES_INTERNAL_CXSPARSE_H_
+#define CERES_INTERNAL_CXSPARSE_H_
+
+#ifndef CERES_NO_CXSPARSE
+
+#include "cs.h"
+
+namespace ceres {
+namespace internal {
+
+class CompressedRowSparseMatrix;
+class TripletSparseMatrix;
+
+// This object provides access to solving linear systems using Cholesky
+// factorization with a known symbolic factorization. This features does not
+// explicity exist in CXSparse. The methods in the class are nonstatic because
+// the class manages internal scratch space.
+class CXSparse {
+ public:
+ CXSparse();
+ ~CXSparse();
+
+ // Solves a symmetric linear system A * x = b using Cholesky factorization.
+ // A - The system matrix.
+ // symbolic_factorization - The symbolic factorization of A. This is obtained
+ // from AnalyzeCholesky.
+ // b - The right hand size of the linear equation. This
+ // array will also recieve the solution.
+ // Returns false if Cholesky factorization of A fails.
+ bool SolveCholesky(cs_di* A, cs_dis* symbolic_factorization, double* b);
+
+ // Creates a sparse matrix from a compressed-column form. No memory is
+ // allocated or copied; the structure A is filled out with info from the
+ // argument.
+ cs_di CreateSparseMatrixTransposeView(CompressedRowSparseMatrix* A);
+
+ // Creates a new matrix from a triplet form. Deallocate the returned matrix
+ // with Free. May return NULL if the compression or allocation fails.
+ cs_di* CreateSparseMatrix(TripletSparseMatrix* A);
+
+ // Computes a symbolic factorization of A that can be used in SolveCholesky.
+ // The returned matrix should be deallocated with Free when not used anymore.
+ cs_dis* AnalyzeCholesky(cs_di* A);
+
+ // Deallocates the memory of a matrix obtained from AnalyzeCholesky.
+ void Free(cs_di* factor);
+ void Free(cs_dis* factor);
+
+ private:
+ // Cached scratch space
+ CS_ENTRY* scratch_;
+ int scratch_size_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_NO_CXSPARSE
+
+#endif // CERES_INTERNAL_CXSPARSE_H_
diff --git a/internal/ceres/dense_jacobian_writer.h b/internal/ceres/dense_jacobian_writer.h
new file mode 100644
index 0000000..be743a8
--- /dev/null
+++ b/internal/ceres/dense_jacobian_writer.h
@@ -0,0 +1,111 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// A jacobian writer that writes to dense Eigen matrices.
+
+#ifndef CERES_INTERNAL_DENSE_JACOBIAN_WRITER_H_
+#define CERES_INTERNAL_DENSE_JACOBIAN_WRITER_H_
+
+#include "ceres/casts.h"
+#include "ceres/dense_sparse_matrix.h"
+#include "ceres/parameter_block.h"
+#include "ceres/program.h"
+#include "ceres/residual_block.h"
+#include "ceres/scratch_evaluate_preparer.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+class DenseJacobianWriter {
+ public:
+ DenseJacobianWriter(Evaluator::Options /* ignored */,
+ Program* program)
+ : program_(program) {
+ }
+
+ // JacobianWriter interface.
+
+ // Since the dense matrix has different layout than that assumed by the cost
+ // functions, use scratch space to store the jacobians temporarily then copy
+ // them over to the larger jacobian later.
+ ScratchEvaluatePreparer* CreateEvaluatePreparers(int num_threads) {
+ return ScratchEvaluatePreparer::Create(*program_, num_threads);
+ }
+
+ SparseMatrix* CreateJacobian() const {
+ return new DenseSparseMatrix(program_->NumResiduals(),
+ program_->NumEffectiveParameters(),
+ true);
+ }
+
+ void Write(int residual_id,
+ int residual_offset,
+ double **jacobians,
+ SparseMatrix* jacobian) {
+ DenseSparseMatrix* dense_jacobian;
+ if (jacobian != NULL) {
+ dense_jacobian = down_cast<DenseSparseMatrix*>(jacobian);
+ }
+ const ResidualBlock* residual_block =
+ program_->residual_blocks()[residual_id];
+ int num_parameter_blocks = residual_block->NumParameterBlocks();
+ int num_residuals = residual_block->NumResiduals();
+
+ // Now copy the jacobians for each parameter into the dense jacobian matrix.
+ for (int j = 0; j < num_parameter_blocks; ++j) {
+ ParameterBlock* parameter_block = residual_block->parameter_blocks()[j];
+
+ // If the parameter block is fixed, then there is nothing to do.
+ if (parameter_block->IsConstant()) {
+ continue;
+ }
+
+ const int parameter_block_size = parameter_block->LocalSize();
+ ConstMatrixRef parameter_jacobian(jacobians[j],
+ num_residuals,
+ parameter_block_size);
+
+ dense_jacobian->mutable_matrix().block(
+ residual_offset,
+ parameter_block->delta_offset(),
+ num_residuals,
+ parameter_block_size) = parameter_jacobian;
+ }
+ }
+
+ private:
+ Program* program_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_DENSE_JACOBIAN_WRITER_H_
diff --git a/internal/ceres/dense_normal_cholesky_solver.cc b/internal/ceres/dense_normal_cholesky_solver.cc
new file mode 100644
index 0000000..f6bb99a
--- /dev/null
+++ b/internal/ceres/dense_normal_cholesky_solver.cc
@@ -0,0 +1,86 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/dense_normal_cholesky_solver.h"
+
+#include <cstddef>
+
+#include "Eigen/Dense"
+#include "ceres/dense_sparse_matrix.h"
+#include "ceres/linear_solver.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+DenseNormalCholeskySolver::DenseNormalCholeskySolver(
+ const LinearSolver::Options& options)
+ : options_(options) {}
+
+LinearSolver::Summary DenseNormalCholeskySolver::SolveImpl(
+ DenseSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x) {
+ const int num_rows = A->num_rows();
+ const int num_cols = A->num_cols();
+
+ ConstAlignedMatrixRef Aref = A->matrix();
+ Matrix lhs(num_cols, num_cols);
+ lhs.setZero();
+
+ // lhs += A'A
+ //
+ // Using rankUpdate instead of GEMM, exposes the fact that its the
+ // same matrix being multiplied with itself and that the product is
+ // symmetric.
+ lhs.selfadjointView<Eigen::Upper>().rankUpdate(Aref.transpose());
+
+ // rhs = A'b
+ Vector rhs = Aref.transpose() * ConstVectorRef(b, num_rows);
+
+ if (per_solve_options.D != NULL) {
+ ConstVectorRef D(per_solve_options.D, num_cols);
+ lhs += D.array().square().matrix().asDiagonal();
+ }
+
+ VectorRef(x, num_cols) =
+ lhs.selfadjointView<Eigen::Upper>().ldlt().solve(rhs);
+
+ LinearSolver::Summary summary;
+ summary.num_iterations = 1;
+ summary.termination_type = TOLERANCE;
+ return summary;
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/dense_normal_cholesky_solver.h b/internal/ceres/dense_normal_cholesky_solver.h
new file mode 100644
index 0000000..de47740
--- /dev/null
+++ b/internal/ceres/dense_normal_cholesky_solver.h
@@ -0,0 +1,95 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Solve dense rectangular systems Ax = b by forming the normal
+// equations and solving them using the Cholesky factorization.
+
+#ifndef CERES_INTERNAL_DENSE_NORMAL_CHOLESKY_SOLVER_H_
+#define CERES_INTERNAL_DENSE_NORMAL_CHOLESKY_SOLVER_H_
+
+#include "ceres/linear_solver.h"
+#include "ceres/internal/macros.h"
+
+namespace ceres {
+namespace internal {
+
+class DenseSparseMatrix;
+
+// This class implements the LinearSolver interface for solving
+// rectangular/unsymmetric (well constrained) linear systems of the
+// form
+//
+// Ax = b
+//
+// Since there does not usually exist a solution that satisfies these
+// equations, the solver instead solves the linear least squares
+// problem
+//
+// min_x |Ax - b|^2
+//
+// Setting the gradient of the above optimization problem to zero
+// gives us the normal equations
+//
+// A'Ax = A'b
+//
+// A'A is a positive definite matrix (hopefully), and the resulting
+// linear system can be solved using Cholesky factorization.
+//
+// If the PerSolveOptions struct has a non-null array D, then the
+// augmented/regularized linear system
+//
+// [ A ]x = [b]
+// [ diag(D) ] [0]
+//
+// is solved.
+//
+// This class uses the LDLT factorization routines from the Eigen
+// library. This solver always returns a solution, it is the user's
+// responsibility to judge if the solution is good enough for their
+// purposes.
+class DenseNormalCholeskySolver: public DenseSparseMatrixSolver {
+ public:
+ explicit DenseNormalCholeskySolver(const LinearSolver::Options& options);
+
+ private:
+ virtual LinearSolver::Summary SolveImpl(
+ DenseSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x);
+
+ const LinearSolver::Options options_;
+ CERES_DISALLOW_COPY_AND_ASSIGN(DenseNormalCholeskySolver);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_DENSE_NORMAL_CHOLESKY_SOLVER_H_
diff --git a/internal/ceres/dense_qr_solver.cc b/internal/ceres/dense_qr_solver.cc
new file mode 100644
index 0000000..7aec450
--- /dev/null
+++ b/internal/ceres/dense_qr_solver.cc
@@ -0,0 +1,90 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/dense_qr_solver.h"
+
+#include <cstddef>
+
+#include "Eigen/Dense"
+#include "ceres/dense_sparse_matrix.h"
+#include "ceres/linear_solver.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+DenseQRSolver::DenseQRSolver(const LinearSolver::Options& options)
+ : options_(options) {}
+
+LinearSolver::Summary DenseQRSolver::SolveImpl(
+ DenseSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x) {
+ const int num_rows = A->num_rows();
+ const int num_cols = A->num_cols();
+ VLOG(2) << "DenseQRSolver: "
+ << num_rows << " x " << num_cols << " system.";
+
+ if (per_solve_options.D != NULL) {
+ // Temporarily append a diagonal block to the A matrix, but undo
+ // it before returning the matrix to the user.
+ A->AppendDiagonal(per_solve_options.D);
+ }
+
+ // rhs = [b;0] to account for the additional rows in the lhs.
+ const int augmented_num_rows = num_rows + ((per_solve_options.D != NULL) ? num_cols : 0);
+ if (rhs_.rows() != augmented_num_rows) {
+ rhs_.resize(augmented_num_rows);
+ rhs_.setZero();
+ }
+ rhs_.head(num_rows) = ConstVectorRef(b, num_rows);
+
+ // Solve the system.
+ VectorRef(x, num_cols) = A->matrix().colPivHouseholderQr().solve(rhs_);
+
+ if (per_solve_options.D != NULL) {
+ // Undo the modifications to the matrix A.
+ A->RemoveDiagonal();
+ }
+
+ // We always succeed, since the QR solver returns the best solution
+ // it can. It is the job of the caller to determine if the solution
+ // is good enough or not.
+ LinearSolver::Summary summary;
+ summary.num_iterations = 1;
+ summary.termination_type = TOLERANCE;
+ return summary;
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/dense_qr_solver.h b/internal/ceres/dense_qr_solver.h
new file mode 100644
index 0000000..f78fa72
--- /dev/null
+++ b/internal/ceres/dense_qr_solver.h
@@ -0,0 +1,101 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Solve dense rectangular systems Ax = b using the QR factorization.
+#ifndef CERES_INTERNAL_DENSE_QR_SOLVER_H_
+#define CERES_INTERNAL_DENSE_QR_SOLVER_H_
+
+#include "ceres/linear_solver.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/macros.h"
+
+namespace ceres {
+namespace internal {
+
+class DenseSparseMatrix;
+
+// This class implements the LinearSolver interface for solving
+// rectangular/unsymmetric (well constrained) linear systems of the
+// form
+//
+// Ax = b
+//
+// Since there does not usually exist a solution that satisfies these
+// equations, the solver instead solves the linear least squares
+// problem
+//
+// min_x |Ax - b|^2
+//
+// The solution strategy is based on computing the QR decomposition of
+// A, i.e.
+//
+// A = QR
+//
+// Where Q is an orthonormal matrix and R is an upper triangular
+// matrix. Then
+//
+// Ax = b
+// QRx = b
+// Q'QRx = Q'b
+// Rx = Q'b
+// x = R^{-1} Q'b
+//
+// If the PerSolveOptions struct has a non-null array D, then the
+// augmented/regularized linear system
+//
+// [ A ]x = [b]
+// [ diag(D) ] [0]
+//
+// is solved.
+//
+// This class uses the dense QR factorization routines from the Eigen
+// library. This solver always returns a solution, it is the user's
+// responsibility to judge if the solution is good enough for their
+// purposes.
+class DenseQRSolver: public DenseSparseMatrixSolver {
+ public:
+ explicit DenseQRSolver(const LinearSolver::Options& options);
+
+ private:
+ virtual LinearSolver::Summary SolveImpl(
+ DenseSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x);
+
+ const LinearSolver::Options options_;
+ Vector rhs_;
+ CERES_DISALLOW_COPY_AND_ASSIGN(DenseQRSolver);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_DENSE_QR_SOLVER_H_
diff --git a/internal/ceres/dense_sparse_matrix.cc b/internal/ceres/dense_sparse_matrix.cc
new file mode 100644
index 0000000..7fb7b83
--- /dev/null
+++ b/internal/ceres/dense_sparse_matrix.cc
@@ -0,0 +1,209 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "ceres/dense_sparse_matrix.h"
+
+#include <algorithm>
+#include "ceres/matrix_proto.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+DenseSparseMatrix::DenseSparseMatrix(int num_rows, int num_cols)
+ : has_diagonal_appended_(false),
+ has_diagonal_reserved_(false) {
+ // Allocate enough space for the diagonal.
+ m_.resize(num_rows, num_cols);
+ m_.setZero();
+}
+
+DenseSparseMatrix::DenseSparseMatrix(int num_rows, int num_cols, bool reserve_diagonal)
+ : has_diagonal_appended_(false),
+ has_diagonal_reserved_(reserve_diagonal) {
+ // Allocate enough space for the diagonal.
+ if (reserve_diagonal) {
+ m_.resize(num_rows + num_cols, num_cols);
+ } else {
+ m_.resize(num_rows, num_cols);
+ }
+ m_.setZero();
+}
+
+DenseSparseMatrix::DenseSparseMatrix(const TripletSparseMatrix& m)
+ : m_(Eigen::MatrixXd::Zero(m.num_rows(), m.num_cols())),
+ has_diagonal_appended_(false),
+ has_diagonal_reserved_(false) {
+ const double *values = m.values();
+ const int *rows = m.rows();
+ const int *cols = m.cols();
+ int num_nonzeros = m.num_nonzeros();
+
+ for (int i = 0; i < num_nonzeros; ++i) {
+ m_(rows[i], cols[i]) += values[i];
+ }
+}
+
+DenseSparseMatrix::DenseSparseMatrix(const Matrix& m)
+ : m_(m),
+ has_diagonal_appended_(false),
+ has_diagonal_reserved_(false) {
+}
+
+#ifndef CERES_NO_PROTOCOL_BUFFERS
+DenseSparseMatrix::DenseSparseMatrix(const SparseMatrixProto& outer_proto)
+ : m_(Eigen::MatrixXd::Zero(
+ outer_proto.dense_matrix().num_rows(),
+ outer_proto.dense_matrix().num_cols())),
+ has_diagonal_appended_(false),
+ has_diagonal_reserved_(false) {
+ const DenseSparseMatrixProto& proto = outer_proto.dense_matrix();
+ for (int i = 0; i < m_.rows(); ++i) {
+ for (int j = 0; j < m_.cols(); ++j) {
+ m_(i, j) = proto.values(m_.cols() * i + j);
+ }
+ }
+}
+#endif
+
+void DenseSparseMatrix::SetZero() {
+ m_.setZero();
+}
+
+void DenseSparseMatrix::RightMultiply(const double* x, double* y) const {
+ VectorRef(y, num_rows()) += matrix() * ConstVectorRef(x, num_cols());
+}
+
+void DenseSparseMatrix::LeftMultiply(const double* x, double* y) const {
+ VectorRef(y, num_cols()) +=
+ matrix().transpose() * ConstVectorRef(x, num_rows());
+}
+
+void DenseSparseMatrix::SquaredColumnNorm(double* x) const {
+ VectorRef(x, num_cols()) = m_.colwise().squaredNorm();
+}
+
+void DenseSparseMatrix::ScaleColumns(const double* scale) {
+ m_ *= ConstVectorRef(scale, num_cols()).asDiagonal();
+}
+
+void DenseSparseMatrix::ToDenseMatrix(Matrix* dense_matrix) const {
+ *dense_matrix = m_;
+}
+
+#ifndef CERES_NO_PROTOCOL_BUFFERS
+void DenseSparseMatrix::ToProto(SparseMatrixProto* outer_proto) const {
+ CHECK(!has_diagonal_appended_) << "Not supported.";
+ outer_proto->Clear();
+ DenseSparseMatrixProto* proto = outer_proto->mutable_dense_matrix();
+
+ proto->set_num_rows(num_rows());
+ proto->set_num_cols(num_cols());
+
+ int num_nnz = num_nonzeros();
+ for (int i = 0; i < num_nnz; ++i) {
+ proto->add_values(m_.data()[i]);
+ }
+}
+#endif
+
+void DenseSparseMatrix::AppendDiagonal(double *d) {
+ CHECK(!has_diagonal_appended_);
+ if (!has_diagonal_reserved_) {
+ Matrix tmp = m_;
+ m_.resize(m_.rows() + m_.cols(), m_.cols());
+ m_.setZero();
+ m_.block(0, 0, tmp.rows(), tmp.cols()) = tmp;
+ has_diagonal_reserved_ = true;
+ }
+
+ m_.bottomLeftCorner(m_.cols(), m_.cols()) =
+ ConstVectorRef(d, m_.cols()).asDiagonal();
+ has_diagonal_appended_ = true;
+}
+
+void DenseSparseMatrix::RemoveDiagonal() {
+ CHECK(has_diagonal_appended_);
+ has_diagonal_appended_ = false;
+ // Leave the diagonal reserved.
+}
+
+int DenseSparseMatrix::num_rows() const {
+ if (has_diagonal_reserved_ && !has_diagonal_appended_) {
+ return m_.rows() - m_.cols();
+ }
+ return m_.rows();
+}
+
+int DenseSparseMatrix::num_cols() const {
+ return m_.cols();
+}
+
+int DenseSparseMatrix::num_nonzeros() const {
+ if (has_diagonal_reserved_ && !has_diagonal_appended_) {
+ return (m_.rows() - m_.cols()) * m_.cols();
+ }
+ return m_.rows() * m_.cols();
+}
+
+ConstAlignedMatrixRef DenseSparseMatrix::matrix() const {
+ if (has_diagonal_reserved_ && !has_diagonal_appended_) {
+ return ConstAlignedMatrixRef(
+ m_.data(), m_.rows() - m_.cols(), m_.cols());
+ }
+ return ConstAlignedMatrixRef(m_.data(), m_.rows(), m_.cols());
+}
+
+AlignedMatrixRef DenseSparseMatrix::mutable_matrix() {
+ if (has_diagonal_reserved_ && !has_diagonal_appended_) {
+ return AlignedMatrixRef(
+ m_.data(), m_.rows() - m_.cols(), m_.cols());
+ }
+ return AlignedMatrixRef(m_.data(), m_.rows(), m_.cols());
+}
+
+void DenseSparseMatrix::ToTextFile(FILE* file) const {
+ CHECK_NOTNULL(file);
+ const int active_rows =
+ (has_diagonal_reserved_ && !has_diagonal_appended_)
+ ? (m_.rows() - m_.cols())
+ : m_.rows();
+
+ for (int r = 0; r < active_rows; ++r) {
+ for (int c = 0; c < m_.cols(); ++c) {
+ fprintf(file, "% 10d % 10d %17f\n", r, c, m_(r, c));
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/dense_sparse_matrix.h b/internal/ceres/dense_sparse_matrix.h
new file mode 100644
index 0000000..1e4d499
--- /dev/null
+++ b/internal/ceres/dense_sparse_matrix.h
@@ -0,0 +1,117 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// A dense matrix implemented under the SparseMatrix interface.
+
+#ifndef CERES_INTERNAL_DENSE_SPARSE_MATRIX_H_
+#define CERES_INTERNAL_DENSE_SPARSE_MATRIX_H_
+
+#include <glog/logging.h>
+#include "ceres/sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+class SparseMatrixProto;
+class TripletSparseMatrix;
+
+class DenseSparseMatrix : public SparseMatrix {
+ public:
+ // Build a matrix with the same content as the TripletSparseMatrix
+ // m. This assumes that m does not have any repeated entries.
+ explicit DenseSparseMatrix(const TripletSparseMatrix& m);
+ explicit DenseSparseMatrix(const Matrix& m);
+#ifndef CERES_NO_PROTOCOL_BUFFERS
+ explicit DenseSparseMatrix(const SparseMatrixProto& proto);
+#endif
+
+ DenseSparseMatrix(int num_rows, int num_cols);
+ DenseSparseMatrix(int num_rows, int num_cols, bool reserve_diagonal);
+
+ virtual ~DenseSparseMatrix() {}
+
+ // SparseMatrix interface.
+ virtual void SetZero();
+ virtual void RightMultiply(const double* x, double* y) const;
+ virtual void LeftMultiply(const double* x, double* y) const;
+ virtual void SquaredColumnNorm(double* x) const;
+ virtual void ScaleColumns(const double* scale);
+ virtual void ToDenseMatrix(Matrix* dense_matrix) const;
+#ifndef CERES_NO_PROTOCOL_BUFFERS
+ virtual void ToProto(SparseMatrixProto* proto) const;
+#endif
+ virtual void ToTextFile(FILE* file) const;
+ virtual int num_rows() const;
+ virtual int num_cols() const;
+ virtual int num_nonzeros() const;
+ virtual const double* values() const { return m_.data(); }
+ virtual double* mutable_values() { return m_.data(); }
+
+ ConstAlignedMatrixRef matrix() const;
+ AlignedMatrixRef mutable_matrix();
+
+ // Only one diagonal can be appended at a time. The diagonal is appended to
+ // as a new set of rows, e.g.
+ //
+ // Original matrix:
+ //
+ // x x x
+ // x x x
+ // x x x
+ //
+ // After append diagonal (1, 2, 3):
+ //
+ // x x x
+ // x x x
+ // x x x
+ // 1 0 0
+ // 0 2 0
+ // 0 0 3
+ //
+ // Calling RemoveDiagonal removes the block. It is a fatal error to append a
+ // diagonal to a matrix that already has an appended diagonal, and it is also
+ // a fatal error to remove a diagonal from a matrix that has none.
+ void AppendDiagonal(double *d);
+ void RemoveDiagonal();
+
+ private:
+ Matrix m_;
+ bool has_diagonal_appended_;
+ bool has_diagonal_reserved_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_DENSE_SPARSE_MATRIX_H_
diff --git a/internal/ceres/dense_sparse_matrix_test.cc b/internal/ceres/dense_sparse_matrix_test.cc
new file mode 100644
index 0000000..354357f
--- /dev/null
+++ b/internal/ceres/dense_sparse_matrix_test.cc
@@ -0,0 +1,232 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// TODO(keir): Implement a generic "compare sparse matrix implementations" test
+// suite that can compare all the implementations. Then this file would shrink
+// in size.
+
+#include "ceres/dense_sparse_matrix.h"
+
+#include "gtest/gtest.h"
+#include "ceres/casts.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/matrix_proto.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+void CompareMatrices(const SparseMatrix* a, const SparseMatrix* b) {
+ EXPECT_EQ(a->num_rows(), b->num_rows());
+ EXPECT_EQ(a->num_cols(), b->num_cols());
+
+ int num_rows = a->num_rows();
+ int num_cols = a->num_cols();
+
+ for (int i = 0; i < num_cols; ++i) {
+ Vector x = Vector::Zero(num_cols);
+ x(i) = 1.0;
+
+ Vector y_a = Vector::Zero(num_rows);
+ Vector y_b = Vector::Zero(num_rows);
+
+ a->RightMultiply(x.data(), y_a.data());
+ b->RightMultiply(x.data(), y_b.data());
+
+ EXPECT_EQ((y_a - y_b).norm(), 0);
+ }
+}
+
+class DenseSparseMatrixTest : public ::testing::Test {
+ protected :
+ virtual void SetUp() {
+ scoped_ptr<LinearLeastSquaresProblem> problem(
+ CreateLinearLeastSquaresProblemFromId(1));
+
+ CHECK_NOTNULL(problem.get());
+
+ tsm.reset(down_cast<TripletSparseMatrix*>(problem->A.release()));
+ dsm.reset(new DenseSparseMatrix(*tsm));
+
+ num_rows = tsm->num_rows();
+ num_cols = tsm->num_cols();
+ }
+
+ int num_rows;
+ int num_cols;
+
+ scoped_ptr<TripletSparseMatrix> tsm;
+ scoped_ptr<DenseSparseMatrix> dsm;
+};
+
+TEST_F(DenseSparseMatrixTest, RightMultiply) {
+ CompareMatrices(tsm.get(), dsm.get());
+
+ // Try with a not entirely zero vector to verify column interactions, which
+ // could be masked by a subtle bug when using the elementary vectors.
+ Vector a(num_cols);
+ for (int i = 0; i < num_cols; i++) {
+ a(i) = i;
+ }
+ Vector b1 = Vector::Zero(num_rows);
+ Vector b2 = Vector::Zero(num_rows);
+
+ tsm->RightMultiply(a.data(), b1.data());
+ dsm->RightMultiply(a.data(), b2.data());
+
+ EXPECT_EQ((b1 - b2).norm(), 0);
+}
+
+TEST_F(DenseSparseMatrixTest, LeftMultiply) {
+ for (int i = 0; i < num_rows; ++i) {
+ Vector a = Vector::Zero(num_rows);
+ a(i) = 1.0;
+
+ Vector b1 = Vector::Zero(num_cols);
+ Vector b2 = Vector::Zero(num_cols);
+
+ tsm->LeftMultiply(a.data(), b1.data());
+ dsm->LeftMultiply(a.data(), b2.data());
+
+ EXPECT_EQ((b1 - b2).norm(), 0);
+ }
+
+ // Try with a not entirely zero vector to verify column interactions, which
+ // could be masked by a subtle bug when using the elementary vectors.
+ Vector a(num_rows);
+ for (int i = 0; i < num_rows; i++) {
+ a(i) = i;
+ }
+ Vector b1 = Vector::Zero(num_cols);
+ Vector b2 = Vector::Zero(num_cols);
+
+ tsm->LeftMultiply(a.data(), b1.data());
+ dsm->LeftMultiply(a.data(), b2.data());
+
+ EXPECT_EQ((b1 - b2).norm(), 0);
+}
+
+TEST_F(DenseSparseMatrixTest, ColumnNorm) {
+ Vector b1 = Vector::Zero(num_cols);
+ Vector b2 = Vector::Zero(num_cols);
+
+ tsm->SquaredColumnNorm(b1.data());
+ dsm->SquaredColumnNorm(b2.data());
+
+ EXPECT_EQ((b1 - b2).norm(), 0);
+}
+
+TEST_F(DenseSparseMatrixTest, Scale) {
+ Vector scale(num_cols);
+ for (int i = 0; i < num_cols; ++i) {
+ scale(i) = i + 1;
+ }
+ tsm->ScaleColumns(scale.data());
+ dsm->ScaleColumns(scale.data());
+ CompareMatrices(tsm.get(), dsm.get());
+}
+
+#ifndef CERES_NO_PROTOCOL_BUFFERS
+TEST_F(DenseSparseMatrixTest, Serialization) {
+ SparseMatrixProto proto;
+ dsm->ToProto(&proto);
+
+ DenseSparseMatrix n(proto);
+ ASSERT_EQ(dsm->num_rows(), n.num_rows());
+ ASSERT_EQ(dsm->num_cols(), n.num_cols());
+ ASSERT_EQ(dsm->num_nonzeros(), n.num_nonzeros());
+
+ for (int i = 0; i < n.num_rows() + 1; ++i) {
+ ASSERT_EQ(dsm->values()[i], proto.dense_matrix().values(i));
+ }
+}
+#endif
+
+TEST_F(DenseSparseMatrixTest, ToDenseMatrix) {
+ Matrix tsm_dense;
+ Matrix dsm_dense;
+
+ tsm->ToDenseMatrix(&tsm_dense);
+ dsm->ToDenseMatrix(&dsm_dense);
+
+ EXPECT_EQ((tsm_dense - dsm_dense).norm(), 0.0);
+}
+
+// TODO(keir): Make this work without protocol buffers.
+#ifndef CERES_NO_PROTOCOL_BUFFERS
+TEST_F(DenseSparseMatrixTest, AppendDiagonal) {
+ DenseSparseMatrixProto proto;
+ proto.set_num_rows(3);
+ proto.set_num_cols(3);
+ for (int i = 0; i < 9; ++i) {
+ proto.add_values(i);
+ }
+ SparseMatrixProto outer_proto;
+ *outer_proto.mutable_dense_matrix() = proto;
+
+ DenseSparseMatrix dsm(outer_proto);
+
+ double diagonal[] = { 10, 11, 12 };
+ dsm.AppendDiagonal(diagonal);
+
+ // Verify the diagonal got added.
+ Matrix m = dsm.matrix();
+ EXPECT_EQ(6, m.rows());
+ EXPECT_EQ(3, m.cols());
+ for (int i = 0; i < 3; ++i) {
+ for (int j = 0; j < 3; ++j) {
+ EXPECT_EQ(3 * i + j, m(i, j));
+ if (i == j) {
+ EXPECT_EQ(10 + i, m(i + 3, j));
+ } else {
+ EXPECT_EQ(0, m(i + 3, j));
+ }
+ }
+ }
+
+ // Verify the diagonal gets removed.
+ dsm.RemoveDiagonal();
+ m = dsm.matrix();
+
+ EXPECT_EQ(3, m.rows());
+ EXPECT_EQ(3, m.cols());
+
+ for (int i = 0; i < 3; ++i) {
+ for (int j = 0; j < 3; ++j) {
+ EXPECT_EQ(3 * i + j, m(i, j));
+ }
+ }
+}
+#endif
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/detect_structure.cc b/internal/ceres/detect_structure.cc
new file mode 100644
index 0000000..ea5bf2e
--- /dev/null
+++ b/internal/ceres/detect_structure.cc
@@ -0,0 +1,114 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/detect_structure.h"
+#include "ceres/internal/eigen.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+void DetectStructure(const CompressedRowBlockStructure& bs,
+ const int num_eliminate_blocks,
+ int* row_block_size,
+ int* e_block_size,
+ int* f_block_size) {
+ const int num_row_blocks = bs.rows.size();
+ *row_block_size = 0;
+ *e_block_size = 0;
+ *f_block_size = 0;
+
+ // Iterate over row blocks of the matrix, checking if row_block,
+ // e_block or f_block sizes remain constant.
+ for (int r = 0; r < num_row_blocks; ++r) {
+ const CompressedRow& row = bs.rows[r];
+ // We do not care about the sizes of the blocks in rows which do
+ // not contain e_blocks.
+ if (row.cells.front().block_id >= num_eliminate_blocks) {
+ break;
+ }
+ const int e_block_id = row.cells.front().block_id;
+
+ if (*row_block_size == 0) {
+ *row_block_size = row.block.size;
+ } else if (*row_block_size != Eigen::Dynamic &&
+ *row_block_size != row.block.size) {
+ VLOG(2) << "Dynamic row block size because the block size changed from "
+ << *row_block_size << " to "
+ << row.block.size;
+ *row_block_size = Eigen::Dynamic;
+ }
+
+
+ if (*e_block_size == 0) {
+ *e_block_size = bs.cols[e_block_id].size;
+ } else if (*e_block_size != Eigen::Dynamic &&
+ *e_block_size != bs.cols[e_block_id].size) {
+ VLOG(2) << "Dynamic e block size because the block size changed from "
+ << *e_block_size << " to "
+ << bs.cols[e_block_id].size;
+ *e_block_size = Eigen::Dynamic;
+ }
+
+ if (*f_block_size == 0) {
+ if (row.cells.size() > 1) {
+ const int f_block_id = row.cells[1].block_id;
+ *f_block_size = bs.cols[f_block_id].size;
+ }
+ } else if (*f_block_size != Eigen::Dynamic) {
+ for (int c = 1; c < row.cells.size(); ++c) {
+ if (*f_block_size != bs.cols[row.cells[c].block_id].size) {
+ VLOG(2) << "Dynamic f block size because the block size "
+ << "changed from " << *f_block_size << " to "
+ << bs.cols[row.cells[c].block_id].size;
+ *f_block_size = Eigen::Dynamic;
+ break;
+ }
+ }
+ }
+
+ const bool is_everything_dynamic = (*row_block_size == Eigen::Dynamic &&
+ *e_block_size == Eigen::Dynamic &&
+ *f_block_size == Eigen::Dynamic);
+ if (is_everything_dynamic) {
+ break;
+ }
+ }
+
+ CHECK_NE(*row_block_size, 0) << "No rows found";
+ CHECK_NE(*e_block_size, 0) << "No e type blocks found";
+ VLOG(1) << "Schur complement static structure <"
+ << *row_block_size << ","
+ << *e_block_size << ","
+ << *f_block_size << ">.";
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/detect_structure.h b/internal/ceres/detect_structure.h
new file mode 100644
index 0000000..5f8e1b4
--- /dev/null
+++ b/internal/ceres/detect_structure.h
@@ -0,0 +1,63 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_DETECT_STRUCTURE_H_
+#define CERES_INTERNAL_DETECT_STRUCTURE_H_
+
+#include "ceres/block_structure.h"
+
+namespace ceres {
+namespace internal {
+
+// Detect static blocks in the problem sparsity. For rows containing
+// e_blocks, we are interested in detecting if the size of the row
+// blocks, e_blocks and the f_blocks remain constant. If they do, then
+// we can use template specialization to improve the performance of
+// the block level linear algebra operations used by the
+// SchurEliminator.
+//
+// If a block size is not constant, we return Eigen::Dynamic as the
+// value. This just means that the eliminator uses dynamically sized
+// linear algebra operations rather than static operations whose size
+// is known as compile time.
+//
+// For more details about e_blocks and f_blocks, see
+// schur_eliminator.h. This information is used to initialized an
+// appropriate template specialization of SchurEliminator.
+void DetectStructure(const CompressedRowBlockStructure& bs,
+ const int num_eliminate_blocks,
+ int* row_block_size,
+ int* e_block_size,
+ int* f_block_size);
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_DETECT_STRUCTURE_H_
diff --git a/internal/ceres/dogleg_strategy.cc b/internal/ceres/dogleg_strategy.cc
new file mode 100644
index 0000000..668fa54
--- /dev/null
+++ b/internal/ceres/dogleg_strategy.cc
@@ -0,0 +1,691 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/dogleg_strategy.h"
+
+#include <cmath>
+#include "Eigen/Dense"
+#include "ceres/array_utils.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/linear_solver.h"
+#include "ceres/polynomial_solver.h"
+#include "ceres/sparse_matrix.h"
+#include "ceres/trust_region_strategy.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+namespace {
+const double kMaxMu = 1.0;
+const double kMinMu = 1e-8;
+}
+
+DoglegStrategy::DoglegStrategy(const TrustRegionStrategy::Options& options)
+ : linear_solver_(options.linear_solver),
+ radius_(options.initial_radius),
+ max_radius_(options.max_radius),
+ min_diagonal_(options.lm_min_diagonal),
+ max_diagonal_(options.lm_max_diagonal),
+ mu_(kMinMu),
+ min_mu_(kMinMu),
+ max_mu_(kMaxMu),
+ mu_increase_factor_(10.0),
+ increase_threshold_(0.75),
+ decrease_threshold_(0.25),
+ dogleg_step_norm_(0.0),
+ reuse_(false),
+ dogleg_type_(options.dogleg_type) {
+ CHECK_NOTNULL(linear_solver_);
+ CHECK_GT(min_diagonal_, 0.0);
+ CHECK_LE(min_diagonal_, max_diagonal_);
+ CHECK_GT(max_radius_, 0.0);
+}
+
+// If the reuse_ flag is not set, then the Cauchy point (scaled
+// gradient) and the new Gauss-Newton step are computed from
+// scratch. The Dogleg step is then computed as interpolation of these
+// two vectors.
+TrustRegionStrategy::Summary DoglegStrategy::ComputeStep(
+ const TrustRegionStrategy::PerSolveOptions& per_solve_options,
+ SparseMatrix* jacobian,
+ const double* residuals,
+ double* step) {
+ CHECK_NOTNULL(jacobian);
+ CHECK_NOTNULL(residuals);
+ CHECK_NOTNULL(step);
+
+ const int n = jacobian->num_cols();
+ if (reuse_) {
+ // Gauss-Newton and gradient vectors are always available, only a
+ // new interpolant need to be computed. For the subspace case,
+ // the subspace and the two-dimensional model are also still valid.
+ switch(dogleg_type_) {
+ case TRADITIONAL_DOGLEG:
+ ComputeTraditionalDoglegStep(step);
+ break;
+
+ case SUBSPACE_DOGLEG:
+ ComputeSubspaceDoglegStep(step);
+ break;
+ }
+ TrustRegionStrategy::Summary summary;
+ summary.num_iterations = 0;
+ summary.termination_type = TOLERANCE;
+ return summary;
+ }
+
+ reuse_ = true;
+ // Check that we have the storage needed to hold the various
+ // temporary vectors.
+ if (diagonal_.rows() != n) {
+ diagonal_.resize(n, 1);
+ gradient_.resize(n, 1);
+ gauss_newton_step_.resize(n, 1);
+ }
+
+ // Vector used to form the diagonal matrix that is used to
+ // regularize the Gauss-Newton solve and that defines the
+ // elliptical trust region
+ //
+ // || D * step || <= radius_ .
+ //
+ jacobian->SquaredColumnNorm(diagonal_.data());
+ for (int i = 0; i < n; ++i) {
+ diagonal_[i] = min(max(diagonal_[i], min_diagonal_), max_diagonal_);
+ }
+ diagonal_ = diagonal_.array().sqrt();
+
+ ComputeGradient(jacobian, residuals);
+ ComputeCauchyPoint(jacobian);
+
+ LinearSolver::Summary linear_solver_summary =
+ ComputeGaussNewtonStep(jacobian, residuals);
+
+ TrustRegionStrategy::Summary summary;
+ summary.residual_norm = linear_solver_summary.residual_norm;
+ summary.num_iterations = linear_solver_summary.num_iterations;
+ summary.termination_type = linear_solver_summary.termination_type;
+
+ if (linear_solver_summary.termination_type != FAILURE) {
+ switch(dogleg_type_) {
+ // Interpolate the Cauchy point and the Gauss-Newton step.
+ case TRADITIONAL_DOGLEG:
+ ComputeTraditionalDoglegStep(step);
+ break;
+
+ // Find the minimum in the subspace defined by the
+ // Cauchy point and the (Gauss-)Newton step.
+ case SUBSPACE_DOGLEG:
+ if (!ComputeSubspaceModel(jacobian)) {
+ summary.termination_type = FAILURE;
+ break;
+ }
+ ComputeSubspaceDoglegStep(step);
+ break;
+ }
+ }
+
+ return summary;
+}
+
+// The trust region is assumed to be elliptical with the
+// diagonal scaling matrix D defined by sqrt(diagonal_).
+// It is implemented by substituting step' = D * step.
+// The trust region for step' is spherical.
+// The gradient, the Gauss-Newton step, the Cauchy point,
+// and all calculations involving the Jacobian have to
+// be adjusted accordingly.
+void DoglegStrategy::ComputeGradient(
+ SparseMatrix* jacobian,
+ const double* residuals) {
+ gradient_.setZero();
+ jacobian->LeftMultiply(residuals, gradient_.data());
+ gradient_.array() /= diagonal_.array();
+}
+
+// The Cauchy point is the global minimizer of the quadratic model
+// along the one-dimensional subspace spanned by the gradient.
+void DoglegStrategy::ComputeCauchyPoint(SparseMatrix* jacobian) {
+ // alpha * -gradient is the Cauchy point.
+ Vector Jg(jacobian->num_rows());
+ Jg.setZero();
+ // The Jacobian is scaled implicitly by computing J * (D^-1 * (D^-1 * g))
+ // instead of (J * D^-1) * (D^-1 * g).
+ Vector scaled_gradient =
+ (gradient_.array() / diagonal_.array()).matrix();
+ jacobian->RightMultiply(scaled_gradient.data(), Jg.data());
+ alpha_ = gradient_.squaredNorm() / Jg.squaredNorm();
+}
+
+// The dogleg step is defined as the intersection of the trust region
+// boundary with the piecewise linear path from the origin to the Cauchy
+// point and then from there to the Gauss-Newton point (global minimizer
+// of the model function). The Gauss-Newton point is taken if it lies
+// within the trust region.
+void DoglegStrategy::ComputeTraditionalDoglegStep(double* dogleg) {
+ VectorRef dogleg_step(dogleg, gradient_.rows());
+
+ // Case 1. The Gauss-Newton step lies inside the trust region, and
+ // is therefore the optimal solution to the trust-region problem.
+ const double gradient_norm = gradient_.norm();
+ const double gauss_newton_norm = gauss_newton_step_.norm();
+ if (gauss_newton_norm <= radius_) {
+ dogleg_step = gauss_newton_step_;
+ dogleg_step_norm_ = gauss_newton_norm;
+ dogleg_step.array() /= diagonal_.array();
+ VLOG(3) << "GaussNewton step size: " << dogleg_step_norm_
+ << " radius: " << radius_;
+ return;
+ }
+
+ // Case 2. The Cauchy point and the Gauss-Newton steps lie outside
+ // the trust region. Rescale the Cauchy point to the trust region
+ // and return.
+ if (gradient_norm * alpha_ >= radius_) {
+ dogleg_step = -(radius_ / gradient_norm) * gradient_;
+ dogleg_step_norm_ = radius_;
+ dogleg_step.array() /= diagonal_.array();
+ VLOG(3) << "Cauchy step size: " << dogleg_step_norm_
+ << " radius: " << radius_;
+ return;
+ }
+
+ // Case 3. The Cauchy point is inside the trust region and the
+ // Gauss-Newton step is outside. Compute the line joining the two
+ // points and the point on it which intersects the trust region
+ // boundary.
+
+ // a = alpha * -gradient
+ // b = gauss_newton_step
+ const double b_dot_a = -alpha_ * gradient_.dot(gauss_newton_step_);
+ const double a_squared_norm = pow(alpha_ * gradient_norm, 2.0);
+ const double b_minus_a_squared_norm =
+ a_squared_norm - 2 * b_dot_a + pow(gauss_newton_norm, 2);
+
+ // c = a' (b - a)
+ // = alpha * -gradient' gauss_newton_step - alpha^2 |gradient|^2
+ const double c = b_dot_a - a_squared_norm;
+ const double d = sqrt(c * c + b_minus_a_squared_norm *
+ (pow(radius_, 2.0) - a_squared_norm));
+
+ double beta =
+ (c <= 0)
+ ? (d - c) / b_minus_a_squared_norm
+ : (radius_ * radius_ - a_squared_norm) / (d + c);
+ dogleg_step = (-alpha_ * (1.0 - beta)) * gradient_
+ + beta * gauss_newton_step_;
+ dogleg_step_norm_ = dogleg_step.norm();
+ dogleg_step.array() /= diagonal_.array();
+ VLOG(3) << "Dogleg step size: " << dogleg_step_norm_
+ << " radius: " << radius_;
+}
+
+// The subspace method finds the minimum of the two-dimensional problem
+//
+// min. 1/2 x' B' H B x + g' B x
+// s.t. || B x ||^2 <= r^2
+//
+// where r is the trust region radius and B is the matrix with unit columns
+// spanning the subspace defined by the steepest descent and Newton direction.
+// This subspace by definition includes the Gauss-Newton point, which is
+// therefore taken if it lies within the trust region.
+void DoglegStrategy::ComputeSubspaceDoglegStep(double* dogleg) {
+ VectorRef dogleg_step(dogleg, gradient_.rows());
+
+ // The Gauss-Newton point is inside the trust region if |GN| <= radius_.
+ // This test is valid even though radius_ is a length in the two-dimensional
+ // subspace while gauss_newton_step_ is expressed in the (scaled)
+ // higher dimensional original space. This is because
+ //
+ // 1. gauss_newton_step_ by definition lies in the subspace, and
+ // 2. the subspace basis is orthonormal.
+ //
+ // As a consequence, the norm of the gauss_newton_step_ in the subspace is
+ // the same as its norm in the original space.
+ const double gauss_newton_norm = gauss_newton_step_.norm();
+ if (gauss_newton_norm <= radius_) {
+ dogleg_step = gauss_newton_step_;
+ dogleg_step_norm_ = gauss_newton_norm;
+ dogleg_step.array() /= diagonal_.array();
+ VLOG(3) << "GaussNewton step size: " << dogleg_step_norm_
+ << " radius: " << radius_;
+ return;
+ }
+
+ // The optimum lies on the boundary of the trust region. The above problem
+ // therefore becomes
+ //
+ // min. 1/2 x^T B^T H B x + g^T B x
+ // s.t. || B x ||^2 = r^2
+ //
+ // Notice the equality in the constraint.
+ //
+ // This can be solved by forming the Lagrangian, solving for x(y), where
+ // y is the Lagrange multiplier, using the gradient of the objective, and
+ // putting x(y) back into the constraint. This results in a fourth order
+ // polynomial in y, which can be solved using e.g. the companion matrix.
+ // See the description of MakePolynomialForBoundaryConstrainedProblem for
+ // details. The result is up to four real roots y*, not all of which
+ // correspond to feasible points. The feasible points x(y*) have to be
+ // tested for optimality.
+
+ if (subspace_is_one_dimensional_) {
+ // The subspace is one-dimensional, so both the gradient and
+ // the Gauss-Newton step point towards the same direction.
+ // In this case, we move along the gradient until we reach the trust
+ // region boundary.
+ dogleg_step = -(radius_ / gradient_.norm()) * gradient_;
+ dogleg_step_norm_ = radius_;
+ dogleg_step.array() /= diagonal_.array();
+ VLOG(3) << "Dogleg subspace step size (1D): " << dogleg_step_norm_
+ << " radius: " << radius_;
+ return;
+ }
+
+ Vector2d minimum(0.0, 0.0);
+ if (!FindMinimumOnTrustRegionBoundary(&minimum)) {
+ // For the positive semi-definite case, a traditional dogleg step
+ // is taken in this case.
+ LOG(WARNING) << "Failed to compute polynomial roots. "
+ << "Taking traditional dogleg step instead.";
+ ComputeTraditionalDoglegStep(dogleg);
+ return;
+ }
+
+ // Test first order optimality at the minimum.
+ // The first order KKT conditions state that the minimum x*
+ // has to satisfy either || x* ||^2 < r^2 (i.e. has to lie within
+ // the trust region), or
+ //
+ // (B x* + g) + y x* = 0
+ //
+ // for some positive scalar y.
+ // Here, as it is already known that the minimum lies on the boundary, the
+ // latter condition is tested. To allow for small imprecisions, we test if
+ // the angle between (B x* + g) and -x* is smaller than acos(0.99).
+ // The exact value of the cosine is arbitrary but should be close to 1.
+ //
+ // This condition should not be violated. If it is, the minimum was not
+ // correctly determined.
+ const double kCosineThreshold = 0.99;
+ const Vector2d grad_minimum = subspace_B_ * minimum + subspace_g_;
+ const double cosine_angle = -minimum.dot(grad_minimum) /
+ (minimum.norm() * grad_minimum.norm());
+ if (cosine_angle < kCosineThreshold) {
+ LOG(WARNING) << "First order optimality seems to be violated "
+ << "in the subspace method!\n"
+ << "Cosine of angle between x and B x + g is "
+ << cosine_angle << ".\n"
+ << "Taking a regular dogleg step instead.\n"
+ << "Please consider filing a bug report if this "
+ << "happens frequently or consistently.\n";
+ ComputeTraditionalDoglegStep(dogleg);
+ return;
+ }
+
+ // Create the full step from the optimal 2d solution.
+ dogleg_step = subspace_basis_ * minimum;
+ dogleg_step_norm_ = radius_;
+ dogleg_step.array() /= diagonal_.array();
+ VLOG(3) << "Dogleg subspace step size: " << dogleg_step_norm_
+ << " radius: " << radius_;
+}
+
+// Build the polynomial that defines the optimal Lagrange multipliers.
+// Let the Lagrangian be
+//
+// L(x, y) = 0.5 x^T B x + x^T g + y (0.5 x^T x - 0.5 r^2). (1)
+//
+// Stationary points of the Lagrangian are given by
+//
+// 0 = d L(x, y) / dx = Bx + g + y x (2)
+// 0 = d L(x, y) / dy = 0.5 x^T x - 0.5 r^2 (3)
+//
+// For any given y, we can solve (2) for x as
+//
+// x(y) = -(B + y I)^-1 g . (4)
+//
+// As B + y I is 2x2, we form the inverse explicitly:
+//
+// (B + y I)^-1 = (1 / det(B + y I)) adj(B + y I) (5)
+//
+// where adj() denotes adjugation. This should be safe, as B is positive
+// semi-definite and y is necessarily positive, so (B + y I) is indeed
+// invertible.
+// Plugging (5) into (4) and the result into (3), then dividing by 0.5 we
+// obtain
+//
+// 0 = (1 / det(B + y I))^2 g^T adj(B + y I)^T adj(B + y I) g - r^2
+// (6)
+//
+// or
+//
+// det(B + y I)^2 r^2 = g^T adj(B + y I)^T adj(B + y I) g (7a)
+// = g^T adj(B)^T adj(B) g
+// + 2 y g^T adj(B)^T g + y^2 g^T g (7b)
+//
+// as
+//
+// adj(B + y I) = adj(B) + y I = adj(B)^T + y I . (8)
+//
+// The left hand side can be expressed explicitly using
+//
+// det(B + y I) = det(B) + y tr(B) + y^2 . (9)
+//
+// So (7) is a polynomial in y of degree four.
+// Bringing everything back to the left hand side, the coefficients can
+// be read off as
+//
+// y^4 r^2
+// + y^3 2 r^2 tr(B)
+// + y^2 (r^2 tr(B)^2 + 2 r^2 det(B) - g^T g)
+// + y^1 (2 r^2 det(B) tr(B) - 2 g^T adj(B)^T g)
+// + y^0 (r^2 det(B)^2 - g^T adj(B)^T adj(B) g)
+//
+Vector DoglegStrategy::MakePolynomialForBoundaryConstrainedProblem() const {
+ const double detB = subspace_B_.determinant();
+ const double trB = subspace_B_.trace();
+ const double r2 = radius_ * radius_;
+ Matrix2d B_adj;
+ B_adj << subspace_B_(1,1) , -subspace_B_(0,1),
+ -subspace_B_(1,0) , subspace_B_(0,0);
+
+ Vector polynomial(5);
+ polynomial(0) = r2;
+ polynomial(1) = 2.0 * r2 * trB;
+ polynomial(2) = r2 * ( trB * trB + 2.0 * detB ) - subspace_g_.squaredNorm();
+ polynomial(3) = -2.0 * ( subspace_g_.transpose() * B_adj * subspace_g_
+ - r2 * detB * trB );
+ polynomial(4) = r2 * detB * detB - (B_adj * subspace_g_).squaredNorm();
+
+ return polynomial;
+}
+
+// Given a Lagrange multiplier y that corresponds to a stationary point
+// of the Lagrangian L(x, y), compute the corresponding x from the
+// equation
+//
+// 0 = d L(x, y) / dx
+// = B * x + g + y * x
+// = (B + y * I) * x + g
+//
+DoglegStrategy::Vector2d DoglegStrategy::ComputeSubspaceStepFromRoot(
+ double y) const {
+ const Matrix2d B_i = subspace_B_ + y * Matrix2d::Identity();
+ return -B_i.partialPivLu().solve(subspace_g_);
+}
+
+// This function evaluates the quadratic model at a point x in the
+// subspace spanned by subspace_basis_.
+double DoglegStrategy::EvaluateSubspaceModel(const Vector2d& x) const {
+ return 0.5 * x.dot(subspace_B_ * x) + subspace_g_.dot(x);
+}
+
+// This function attempts to solve the boundary-constrained subspace problem
+//
+// min. 1/2 x^T B^T H B x + g^T B x
+// s.t. || B x ||^2 = r^2
+//
+// where B is an orthonormal subspace basis and r is the trust-region radius.
+//
+// This is done by finding the roots of a fourth degree polynomial. If the
+// root finding fails, the function returns false and minimum will be set
+// to (0, 0). If it succeeds, true is returned.
+//
+// In the failure case, another step should be taken, such as the traditional
+// dogleg step.
+bool DoglegStrategy::FindMinimumOnTrustRegionBoundary(Vector2d* minimum) const {
+ CHECK_NOTNULL(minimum);
+
+ // Return (0, 0) in all error cases.
+ minimum->setZero();
+
+ // Create the fourth-degree polynomial that is a necessary condition for
+ // optimality.
+ const Vector polynomial = MakePolynomialForBoundaryConstrainedProblem();
+
+ // Find the real parts y_i of its roots (not only the real roots).
+ Vector roots_real;
+ if (!FindPolynomialRoots(polynomial, &roots_real, NULL)) {
+ // Failed to find the roots of the polynomial, i.e. the candidate
+ // solutions of the constrained problem. Report this back to the caller.
+ return false;
+ }
+
+ // For each root y, compute B x(y) and check for feasibility.
+ // Notice that there should always be four roots, as the leading term of
+ // the polynomial is r^2 and therefore non-zero. However, as some roots
+ // may be complex, the real parts are not necessarily unique.
+ double minimum_value = std::numeric_limits<double>::max();
+ bool valid_root_found = false;
+ for (int i = 0; i < roots_real.size(); ++i) {
+ const Vector2d x_i = ComputeSubspaceStepFromRoot(roots_real(i));
+
+ // Not all roots correspond to points on the trust region boundary.
+ // There are at most four candidate solutions. As we are interested
+ // in the minimum, it is safe to consider all of them after projecting
+ // them onto the trust region boundary.
+ if (x_i.norm() > 0) {
+ const double f_i = EvaluateSubspaceModel((radius_ / x_i.norm()) * x_i);
+ valid_root_found = true;
+ if (f_i < minimum_value) {
+ minimum_value = f_i;
+ *minimum = x_i;
+ }
+ }
+ }
+
+ return valid_root_found;
+}
+
+LinearSolver::Summary DoglegStrategy::ComputeGaussNewtonStep(
+ SparseMatrix* jacobian,
+ const double* residuals) {
+ const int n = jacobian->num_cols();
+ LinearSolver::Summary linear_solver_summary;
+ linear_solver_summary.termination_type = FAILURE;
+
+ // The Jacobian matrix is often quite poorly conditioned. Thus it is
+ // necessary to add a diagonal matrix at the bottom to prevent the
+ // linear solver from failing.
+ //
+ // We do this by computing the same diagonal matrix as the one used
+ // by Levenberg-Marquardt (other choices are possible), and scaling
+ // it by a small constant (independent of the trust region radius).
+ //
+ // If the solve fails, the multiplier to the diagonal is increased
+ // up to max_mu_ by a factor of mu_increase_factor_ every time. If
+ // the linear solver is still not successful, the strategy returns
+ // with FAILURE.
+ //
+ // Next time when a new Gauss-Newton step is requested, the
+ // multiplier starts out from the last successful solve.
+ //
+ // When a step is declared successful, the multiplier is decreased
+ // by half of mu_increase_factor_.
+
+ while (mu_ < max_mu_) {
+ // Dogleg, as far as I (sameeragarwal) understand it, requires a
+ // reasonably good estimate of the Gauss-Newton step. This means
+ // that we need to solve the normal equations more or less
+ // exactly. This is reflected in the values of the tolerances set
+ // below.
+ //
+ // For now, this strategy should only be used with exact
+ // factorization based solvers, for which these tolerances are
+ // automatically satisfied.
+ //
+ // The right way to combine inexact solves with trust region
+ // methods is to use Stiehaug's method.
+ LinearSolver::PerSolveOptions solve_options;
+ solve_options.q_tolerance = 0.0;
+ solve_options.r_tolerance = 0.0;
+
+ lm_diagonal_ = diagonal_ * std::sqrt(mu_);
+ solve_options.D = lm_diagonal_.data();
+
+ // As in the LevenbergMarquardtStrategy, solve Jy = r instead
+ // of Jx = -r and later set x = -y to avoid having to modify
+ // either jacobian or residuals.
+ InvalidateArray(n, gauss_newton_step_.data());
+ linear_solver_summary = linear_solver_->Solve(jacobian,
+ residuals,
+ solve_options,
+ gauss_newton_step_.data());
+
+ if (linear_solver_summary.termination_type == FAILURE ||
+ !IsArrayValid(n, gauss_newton_step_.data())) {
+ mu_ *= mu_increase_factor_;
+ VLOG(2) << "Increasing mu " << mu_;
+ linear_solver_summary.termination_type = FAILURE;
+ continue;
+ }
+ break;
+ }
+
+ if (linear_solver_summary.termination_type != FAILURE) {
+ // The scaled Gauss-Newton step is D * GN:
+ //
+ // - (D^-1 J^T J D^-1)^-1 (D^-1 g)
+ // = - D (J^T J)^-1 D D^-1 g
+ // = D -(J^T J)^-1 g
+ //
+ gauss_newton_step_.array() *= -diagonal_.array();
+ }
+
+ return linear_solver_summary;
+}
+
+void DoglegStrategy::StepAccepted(double step_quality) {
+ CHECK_GT(step_quality, 0.0);
+
+ if (step_quality < decrease_threshold_) {
+ radius_ *= 0.5;
+ }
+
+ if (step_quality > increase_threshold_) {
+ radius_ = max(radius_, 3.0 * dogleg_step_norm_);
+ }
+
+ // Reduce the regularization multiplier, in the hope that whatever
+ // was causing the rank deficiency has gone away and we can return
+ // to doing a pure Gauss-Newton solve.
+ mu_ = max(min_mu_, 2.0 * mu_ / mu_increase_factor_ );
+ reuse_ = false;
+}
+
+void DoglegStrategy::StepRejected(double step_quality) {
+ radius_ *= 0.5;
+ reuse_ = true;
+}
+
+void DoglegStrategy::StepIsInvalid() {
+ mu_ *= mu_increase_factor_;
+ reuse_ = false;
+}
+
+double DoglegStrategy::Radius() const {
+ return radius_;
+}
+
+bool DoglegStrategy::ComputeSubspaceModel(SparseMatrix* jacobian) {
+ // Compute an orthogonal basis for the subspace using QR decomposition.
+ Matrix basis_vectors(jacobian->num_cols(), 2);
+ basis_vectors.col(0) = gradient_;
+ basis_vectors.col(1) = gauss_newton_step_;
+ Eigen::ColPivHouseholderQR<Matrix> basis_qr(basis_vectors);
+
+ switch (basis_qr.rank()) {
+ case 0:
+ // This should never happen, as it implies that both the gradient
+ // and the Gauss-Newton step are zero. In this case, the minimizer should
+ // have stopped due to the gradient being too small.
+ LOG(ERROR) << "Rank of subspace basis is 0. "
+ << "This means that the gradient at the current iterate is "
+ << "zero but the optimization has not been terminated. "
+ << "You may have found a bug in Ceres.";
+ return false;
+
+ case 1:
+ // Gradient and Gauss-Newton step coincide, so we lie on one of the
+ // major axes of the quadratic problem. In this case, we simply move
+ // along the gradient until we reach the trust region boundary.
+ subspace_is_one_dimensional_ = true;
+ return true;
+
+ case 2:
+ subspace_is_one_dimensional_ = false;
+ break;
+
+ default:
+ LOG(ERROR) << "Rank of the subspace basis matrix is reported to be "
+ << "greater than 2. As the matrix contains only two "
+ << "columns this cannot be true and is indicative of "
+ << "a bug.";
+ return false;
+ }
+
+ // The subspace is two-dimensional, so compute the subspace model.
+ // Given the basis U, this is
+ //
+ // subspace_g_ = g_scaled^T U
+ //
+ // and
+ //
+ // subspace_B_ = U^T (J_scaled^T J_scaled) U
+ //
+ // As J_scaled = J * D^-1, the latter becomes
+ //
+ // subspace_B_ = ((U^T D^-1) J^T) (J (D^-1 U))
+ // = (J (D^-1 U))^T (J (D^-1 U))
+
+ subspace_basis_ =
+ basis_qr.householderQ() * Matrix::Identity(jacobian->num_cols(), 2);
+
+ subspace_g_ = subspace_basis_.transpose() * gradient_;
+
+ Eigen::Matrix<double, 2, Eigen::Dynamic, Eigen::RowMajor>
+ Jb(2, jacobian->num_rows());
+ Jb.setZero();
+
+ Vector tmp;
+ tmp = (subspace_basis_.col(0).array() / diagonal_.array()).matrix();
+ jacobian->RightMultiply(tmp.data(), Jb.row(0).data());
+ tmp = (subspace_basis_.col(1).array() / diagonal_.array()).matrix();
+ jacobian->RightMultiply(tmp.data(), Jb.row(1).data());
+
+ subspace_B_ = Jb * Jb.transpose();
+
+ return true;
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/dogleg_strategy.h b/internal/ceres/dogleg_strategy.h
new file mode 100644
index 0000000..bff1689
--- /dev/null
+++ b/internal/ceres/dogleg_strategy.h
@@ -0,0 +1,163 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_DOGLEG_STRATEGY_H_
+#define CERES_INTERNAL_DOGLEG_STRATEGY_H_
+
+#include "ceres/linear_solver.h"
+#include "ceres/trust_region_strategy.h"
+
+namespace ceres {
+namespace internal {
+
+// Dogleg step computation and trust region sizing strategy based on
+// on "Methods for Nonlinear Least Squares" by K. Madsen, H.B. Nielsen
+// and O. Tingleff. Available to download from
+//
+// http://www2.imm.dtu.dk/pubdb/views/edoc_download.php/3215/pdf/imm3215.pdf
+//
+// One minor modification is that instead of computing the pure
+// Gauss-Newton step, we compute a regularized version of it. This is
+// because the Jacobian is often rank-deficient and in such cases
+// using a direct solver leads to numerical failure.
+//
+// If SUBSPACE is passed as the type argument to the constructor, the
+// DoglegStrategy follows the approach by Shultz, Schnabel, Byrd.
+// This finds the exact optimum over the two-dimensional subspace
+// spanned by the two Dogleg vectors.
+class DoglegStrategy : public TrustRegionStrategy {
+public:
+ DoglegStrategy(const TrustRegionStrategy::Options& options);
+ virtual ~DoglegStrategy() {}
+
+ // TrustRegionStrategy interface
+ virtual Summary ComputeStep(const PerSolveOptions& per_solve_options,
+ SparseMatrix* jacobian,
+ const double* residuals,
+ double* step);
+ virtual void StepAccepted(double step_quality);
+ virtual void StepRejected(double step_quality);
+ virtual void StepIsInvalid();
+
+ virtual double Radius() const;
+
+ // These functions are predominantly for testing.
+ Vector gradient() const { return gradient_; }
+ Vector gauss_newton_step() const { return gauss_newton_step_; }
+ Matrix subspace_basis() const { return subspace_basis_; }
+ Vector subspace_g() const { return subspace_g_; }
+ Matrix subspace_B() const { return subspace_B_; }
+
+ private:
+ typedef Eigen::Matrix<double, 2, 1, Eigen::DontAlign> Vector2d;
+ typedef Eigen::Matrix<double, 2, 2, Eigen::DontAlign> Matrix2d;
+
+ LinearSolver::Summary ComputeGaussNewtonStep(SparseMatrix* jacobian,
+ const double* residuals);
+ void ComputeCauchyPoint(SparseMatrix* jacobian);
+ void ComputeGradient(SparseMatrix* jacobian, const double* residuals);
+ void ComputeTraditionalDoglegStep(double* step);
+ bool ComputeSubspaceModel(SparseMatrix* jacobian);
+ void ComputeSubspaceDoglegStep(double* step);
+
+ bool FindMinimumOnTrustRegionBoundary(Vector2d* minimum) const;
+ Vector MakePolynomialForBoundaryConstrainedProblem() const;
+ Vector2d ComputeSubspaceStepFromRoot(double lambda) const;
+ double EvaluateSubspaceModel(const Vector2d& x) const;
+
+ LinearSolver* linear_solver_;
+ double radius_;
+ const double max_radius_;
+
+ const double min_diagonal_;
+ const double max_diagonal_;
+
+ // mu is used to scale the diagonal matrix used to make the
+ // Gauss-Newton solve full rank. In each solve, the strategy starts
+ // out with mu = min_mu, and tries values upto max_mu. If the user
+ // reports an invalid step, the value of mu_ is increased so that
+ // the next solve starts with a stronger regularization.
+ //
+ // If a successful step is reported, then the value of mu_ is
+ // decreased with a lower bound of min_mu_.
+ double mu_;
+ const double min_mu_;
+ const double max_mu_;
+ const double mu_increase_factor_;
+ const double increase_threshold_;
+ const double decrease_threshold_;
+
+ Vector diagonal_; // sqrt(diag(J^T J))
+ Vector lm_diagonal_;
+
+ Vector gradient_;
+ Vector gauss_newton_step_;
+
+ // cauchy_step = alpha * gradient
+ double alpha_;
+ double dogleg_step_norm_;
+
+ // When, ComputeStep is called, reuse_ indicates whether the
+ // Gauss-Newton and Cauchy steps from the last call to ComputeStep
+ // can be reused or not.
+ //
+ // If the user called StepAccepted, then it is expected that the
+ // user has recomputed the Jacobian matrix and new Gauss-Newton
+ // solve is needed and reuse is set to false.
+ //
+ // If the user called StepRejected, then it is expected that the
+ // user wants to solve the trust region problem with the same matrix
+ // but a different trust region radius and the Gauss-Newton and
+ // Cauchy steps can be reused to compute the Dogleg, thus reuse is
+ // set to true.
+ //
+ // If the user called StepIsInvalid, then there was a numerical
+ // problem with the step computed in the last call to ComputeStep,
+ // and the regularization used to do the Gauss-Newton solve is
+ // increased and a new solve should be done when ComputeStep is
+ // called again, thus reuse is set to false.
+ bool reuse_;
+
+ // The dogleg type determines how the minimum of the local
+ // quadratic model is found.
+ DoglegType dogleg_type_;
+
+ // If the type is SUBSPACE_DOGLEG, the two-dimensional
+ // model 1/2 x^T B x + g^T x has to be computed and stored.
+ bool subspace_is_one_dimensional_;
+ Matrix subspace_basis_;
+ Vector2d subspace_g_;
+ Matrix2d subspace_B_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_DOGLEG_STRATEGY_H_
diff --git a/internal/ceres/dogleg_strategy_test.cc b/internal/ceres/dogleg_strategy_test.cc
new file mode 100644
index 0000000..9e2ed9f
--- /dev/null
+++ b/internal/ceres/dogleg_strategy_test.cc
@@ -0,0 +1,291 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: moll.markus@arcor.de (Markus Moll)
+
+#include <limits>
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/dense_qr_solver.h"
+#include "ceres/dogleg_strategy.h"
+#include "ceres/linear_solver.h"
+#include "ceres/trust_region_strategy.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+namespace {
+
+class Fixture : public testing::Test {
+ protected:
+ scoped_ptr<DenseSparseMatrix> jacobian_;
+ Vector residual_;
+ Vector x_;
+ TrustRegionStrategy::Options options_;
+};
+
+// A test problem where
+//
+// J^T J = Q diag([1 2 4 8 16 32]) Q^T
+//
+// where Q is a randomly chosen orthonormal basis of R^6.
+// The residual is chosen so that the minimum of the quadratic function is
+// at (1, 1, 1, 1, 1, 1). It is therefore at a distance of sqrt(6) ~ 2.45
+// from the origin.
+class DoglegStrategyFixtureEllipse : public Fixture {
+ protected:
+ virtual void SetUp() {
+ Matrix basis(6, 6);
+ // The following lines exceed 80 characters for better readability.
+ basis << -0.1046920933796121, -0.7449367449921986, -0.4190744502875876, -0.4480450716142566, 0.2375351607929440, -0.0363053418882862,
+ 0.4064975684355914, 0.2681113508511354, -0.7463625494601520, -0.0803264850508117, -0.4463149623021321, 0.0130224954867195,
+ -0.5514387729089798, 0.1026621026168657, -0.5008316122125011, 0.5738122212666414, 0.2974664724007106, 0.1296020877535158,
+ 0.5037835370947156, 0.2668479925183712, -0.1051754618492798, -0.0272739396578799, 0.7947481647088278, -0.1776623363955670,
+ -0.4005458426625444, 0.2939330589634109, -0.0682629380550051, -0.2895448882503687, -0.0457239396341685, -0.8139899477847840,
+ -0.3247764582762654, 0.4528151365941945, -0.0276683863102816, -0.6155994592510784, 0.1489240599972848, 0.5362574892189350;
+
+ Vector Ddiag(6);
+ Ddiag << 1.0, 2.0, 4.0, 8.0, 16.0, 32.0;
+
+ Matrix sqrtD = Ddiag.array().sqrt().matrix().asDiagonal();
+ Matrix jacobian = sqrtD * basis;
+ jacobian_.reset(new DenseSparseMatrix(jacobian));
+
+ Vector minimum(6);
+ minimum << 1.0, 1.0, 1.0, 1.0, 1.0, 1.0;
+ residual_ = -jacobian * minimum;
+
+ x_.resize(6);
+ x_.setZero();
+
+ options_.lm_min_diagonal = 1.0;
+ options_.lm_max_diagonal = 1.0;
+ }
+};
+
+// A test problem where
+//
+// J^T J = diag([1 2 4 8 16 32]) .
+//
+// The residual is chosen so that the minimum of the quadratic function is
+// at (0, 0, 1, 0, 0, 0). It is therefore at a distance of 1 from the origin.
+// The gradient at the origin points towards the global minimum.
+class DoglegStrategyFixtureValley : public Fixture {
+ protected:
+ virtual void SetUp() {
+ Vector Ddiag(6);
+ Ddiag << 1.0, 2.0, 4.0, 8.0, 16.0, 32.0;
+
+ Matrix jacobian = Ddiag.asDiagonal();
+ jacobian_.reset(new DenseSparseMatrix(jacobian));
+
+ Vector minimum(6);
+ minimum << 0.0, 0.0, 1.0, 0.0, 0.0, 0.0;
+ residual_ = -jacobian * minimum;
+
+ x_.resize(6);
+ x_.setZero();
+
+ options_.lm_min_diagonal = 1.0;
+ options_.lm_max_diagonal = 1.0;
+ }
+};
+
+const double kTolerance = 1e-14;
+const double kToleranceLoose = 1e-5;
+const double kEpsilon = std::numeric_limits<double>::epsilon();
+
+} // namespace
+
+// The DoglegStrategy must never return a step that is longer than the current
+// trust region radius.
+TEST_F(DoglegStrategyFixtureEllipse, TrustRegionObeyedTraditional) {
+ scoped_ptr<LinearSolver> linear_solver(
+ new DenseQRSolver(LinearSolver::Options()));
+ options_.linear_solver = linear_solver.get();
+ // The global minimum is at (1, 1, ..., 1), so the distance to it is sqrt(6.0).
+ // By restricting the trust region to a radius of 2.0, we test if the trust
+ // region is actually obeyed.
+ options_.dogleg_type = TRADITIONAL_DOGLEG;
+ options_.initial_radius = 2.0;
+ options_.max_radius = 2.0;
+
+ DoglegStrategy strategy(options_);
+ TrustRegionStrategy::PerSolveOptions pso;
+
+ TrustRegionStrategy::Summary summary = strategy.ComputeStep(pso,
+ jacobian_.get(),
+ residual_.data(),
+ x_.data());
+
+ EXPECT_NE(summary.termination_type, FAILURE);
+ EXPECT_LE(x_.norm(), options_.initial_radius * (1.0 + 4.0 * kEpsilon));
+}
+
+TEST_F(DoglegStrategyFixtureEllipse, TrustRegionObeyedSubspace) {
+ scoped_ptr<LinearSolver> linear_solver(
+ new DenseQRSolver(LinearSolver::Options()));
+ options_.linear_solver = linear_solver.get();
+ options_.dogleg_type = SUBSPACE_DOGLEG;
+ options_.initial_radius = 2.0;
+ options_.max_radius = 2.0;
+
+ DoglegStrategy strategy(options_);
+ TrustRegionStrategy::PerSolveOptions pso;
+
+ TrustRegionStrategy::Summary summary = strategy.ComputeStep(pso,
+ jacobian_.get(),
+ residual_.data(),
+ x_.data());
+
+ EXPECT_NE(summary.termination_type, FAILURE);
+ EXPECT_LE(x_.norm(), options_.initial_radius * (1.0 + 4.0 * kEpsilon));
+}
+
+TEST_F(DoglegStrategyFixtureEllipse, CorrectGaussNewtonStep) {
+ scoped_ptr<LinearSolver> linear_solver(
+ new DenseQRSolver(LinearSolver::Options()));
+ options_.linear_solver = linear_solver.get();
+ options_.dogleg_type = SUBSPACE_DOGLEG;
+ options_.initial_radius = 10.0;
+ options_.max_radius = 10.0;
+
+ DoglegStrategy strategy(options_);
+ TrustRegionStrategy::PerSolveOptions pso;
+
+ TrustRegionStrategy::Summary summary = strategy.ComputeStep(pso,
+ jacobian_.get(),
+ residual_.data(),
+ x_.data());
+
+ EXPECT_NE(summary.termination_type, FAILURE);
+ EXPECT_NEAR(x_(0), 1.0, kToleranceLoose);
+ EXPECT_NEAR(x_(1), 1.0, kToleranceLoose);
+ EXPECT_NEAR(x_(2), 1.0, kToleranceLoose);
+ EXPECT_NEAR(x_(3), 1.0, kToleranceLoose);
+ EXPECT_NEAR(x_(4), 1.0, kToleranceLoose);
+ EXPECT_NEAR(x_(5), 1.0, kToleranceLoose);
+}
+
+// Test if the subspace basis is a valid orthonormal basis of the space spanned
+// by the gradient and the Gauss-Newton point.
+TEST_F(DoglegStrategyFixtureEllipse, ValidSubspaceBasis) {
+ scoped_ptr<LinearSolver> linear_solver(
+ new DenseQRSolver(LinearSolver::Options()));
+ options_.linear_solver = linear_solver.get();
+ options_.dogleg_type = SUBSPACE_DOGLEG;
+ options_.initial_radius = 2.0;
+ options_.max_radius = 2.0;
+
+ DoglegStrategy strategy(options_);
+ TrustRegionStrategy::PerSolveOptions pso;
+
+ TrustRegionStrategy::Summary summary = strategy.ComputeStep(pso,
+ jacobian_.get(),
+ residual_.data(),
+ x_.data());
+
+ // Check if the basis is orthonormal.
+ const Matrix basis = strategy.subspace_basis();
+ EXPECT_NEAR(basis.col(0).norm(), 1.0, kTolerance);
+ EXPECT_NEAR(basis.col(1).norm(), 1.0, kTolerance);
+ EXPECT_NEAR(basis.col(0).dot(basis.col(1)), 0.0, kTolerance);
+
+ // Check if the gradient projects onto itself.
+ const Vector gradient = strategy.gradient();
+ EXPECT_NEAR((gradient - basis*(basis.transpose()*gradient)).norm(),
+ 0.0,
+ kTolerance);
+
+ // Check if the Gauss-Newton point projects onto itself.
+ const Vector gn = strategy.gauss_newton_step();
+ EXPECT_NEAR((gn - basis*(basis.transpose()*gn)).norm(),
+ 0.0,
+ kTolerance);
+}
+
+// Test if the step is correct if the gradient and the Gauss-Newton step point
+// in the same direction and the Gauss-Newton step is outside the trust region,
+// i.e. the trust region is active.
+TEST_F(DoglegStrategyFixtureValley, CorrectStepLocalOptimumAlongGradient) {
+ scoped_ptr<LinearSolver> linear_solver(
+ new DenseQRSolver(LinearSolver::Options()));
+ options_.linear_solver = linear_solver.get();
+ options_.dogleg_type = SUBSPACE_DOGLEG;
+ options_.initial_radius = 0.25;
+ options_.max_radius = 0.25;
+
+ DoglegStrategy strategy(options_);
+ TrustRegionStrategy::PerSolveOptions pso;
+
+ TrustRegionStrategy::Summary summary = strategy.ComputeStep(pso,
+ jacobian_.get(),
+ residual_.data(),
+ x_.data());
+
+ EXPECT_NE(summary.termination_type, FAILURE);
+ EXPECT_NEAR(x_(0), 0.0, kToleranceLoose);
+ EXPECT_NEAR(x_(1), 0.0, kToleranceLoose);
+ EXPECT_NEAR(x_(2), options_.initial_radius, kToleranceLoose);
+ EXPECT_NEAR(x_(3), 0.0, kToleranceLoose);
+ EXPECT_NEAR(x_(4), 0.0, kToleranceLoose);
+ EXPECT_NEAR(x_(5), 0.0, kToleranceLoose);
+}
+
+// Test if the step is correct if the gradient and the Gauss-Newton step point
+// in the same direction and the Gauss-Newton step is inside the trust region,
+// i.e. the trust region is inactive.
+TEST_F(DoglegStrategyFixtureValley, CorrectStepGlobalOptimumAlongGradient) {
+ scoped_ptr<LinearSolver> linear_solver(
+ new DenseQRSolver(LinearSolver::Options()));
+ options_.linear_solver = linear_solver.get();
+ options_.dogleg_type = SUBSPACE_DOGLEG;
+ options_.initial_radius = 2.0;
+ options_.max_radius = 2.0;
+
+ DoglegStrategy strategy(options_);
+ TrustRegionStrategy::PerSolveOptions pso;
+
+ TrustRegionStrategy::Summary summary = strategy.ComputeStep(pso,
+ jacobian_.get(),
+ residual_.data(),
+ x_.data());
+
+ EXPECT_NE(summary.termination_type, FAILURE);
+ EXPECT_NEAR(x_(0), 0.0, kToleranceLoose);
+ EXPECT_NEAR(x_(1), 0.0, kToleranceLoose);
+ EXPECT_NEAR(x_(2), 1.0, kToleranceLoose);
+ EXPECT_NEAR(x_(3), 0.0, kToleranceLoose);
+ EXPECT_NEAR(x_(4), 0.0, kToleranceLoose);
+ EXPECT_NEAR(x_(5), 0.0, kToleranceLoose);
+}
+
+} // namespace internal
+} // namespace ceres
+
diff --git a/internal/ceres/evaluator.cc b/internal/ceres/evaluator.cc
new file mode 100644
index 0000000..a3ce6f0
--- /dev/null
+++ b/internal/ceres/evaluator.cc
@@ -0,0 +1,147 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include <vector>
+#include "ceres/block_evaluate_preparer.h"
+#include "ceres/block_jacobian_writer.h"
+#include "ceres/compressed_row_jacobian_writer.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/crs_matrix.h"
+#include "ceres/dense_jacobian_writer.h"
+#include "ceres/evaluator.h"
+#include "ceres/internal/port.h"
+#include "ceres/program_evaluator.h"
+#include "ceres/scratch_evaluate_preparer.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+Evaluator::~Evaluator() {}
+
+Evaluator* Evaluator::Create(const Evaluator::Options& options,
+ Program* program,
+ string* error) {
+ switch (options.linear_solver_type) {
+ case DENSE_QR:
+ case DENSE_NORMAL_CHOLESKY:
+ return new ProgramEvaluator<ScratchEvaluatePreparer,
+ DenseJacobianWriter>(options,
+ program);
+ case DENSE_SCHUR:
+ case SPARSE_SCHUR:
+ case ITERATIVE_SCHUR:
+ case CGNR:
+ return new ProgramEvaluator<BlockEvaluatePreparer,
+ BlockJacobianWriter>(options,
+ program);
+ case SPARSE_NORMAL_CHOLESKY:
+ return new ProgramEvaluator<ScratchEvaluatePreparer,
+ CompressedRowJacobianWriter>(options,
+ program);
+ default:
+ *error = "Invalid Linear Solver Type. Unable to create evaluator.";
+ return NULL;
+ }
+}
+
+bool Evaluator::Evaluate(Program* program,
+ int num_threads,
+ double* cost,
+ vector<double>* residuals,
+ vector<double>* gradient,
+ CRSMatrix* output_jacobian) {
+ CHECK_GE(num_threads, 1)
+ << "This is a Ceres bug; please contact the developers!";
+ CHECK_NOTNULL(cost);
+
+ // Setup the Parameter indices and offsets before an evaluator can
+ // be constructed and used.
+ program->SetParameterOffsetsAndIndex();
+
+ Evaluator::Options evaluator_options;
+ evaluator_options.linear_solver_type = SPARSE_NORMAL_CHOLESKY;
+ evaluator_options.num_threads = num_threads;
+
+ string error;
+ scoped_ptr<Evaluator> evaluator(
+ Evaluator::Create(evaluator_options, program, &error));
+ if (evaluator.get() == NULL) {
+ LOG(ERROR) << "Unable to create an Evaluator object. "
+ << "Error: " << error
+ << "This is a Ceres bug; please contact the developers!";
+ return false;
+ }
+
+ if (residuals !=NULL) {
+ residuals->resize(evaluator->NumResiduals());
+ }
+
+ if (gradient != NULL) {
+ gradient->resize(evaluator->NumEffectiveParameters());
+ }
+
+ scoped_ptr<CompressedRowSparseMatrix> jacobian;
+ if (output_jacobian != NULL) {
+ jacobian.reset(
+ down_cast<CompressedRowSparseMatrix*>(evaluator->CreateJacobian()));
+ }
+
+ // Point the state pointers to the user state pointers. This is
+ // needed so that we can extract a parameter vector which is then
+ // passed to Evaluator::Evaluate.
+ program->SetParameterBlockStatePtrsToUserStatePtrs();
+
+ // Copy the value of the parameter blocks into a vector, since the
+ // Evaluate::Evaluate method needs its input as such. The previous
+ // call to SetParameterBlockStatePtrsToUserStatePtrs ensures that
+ // these values are the ones corresponding to the actual state of
+ // the parameter blocks, rather than the temporary state pointer
+ // used for evaluation.
+ Vector parameters(program->NumParameters());
+ program->ParameterBlocksToStateVector(parameters.data());
+
+ if (!evaluator->Evaluate(parameters.data(),
+ cost,
+ residuals != NULL ? &(*residuals)[0] : NULL,
+ gradient != NULL ? &(*gradient)[0] : NULL,
+ jacobian.get())) {
+ return false;
+ }
+
+ if (output_jacobian != NULL) {
+ jacobian->ToCRSMatrix(output_jacobian);
+ }
+
+ return true;
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/evaluator.h b/internal/ceres/evaluator.h
new file mode 100644
index 0000000..3bbf50a
--- /dev/null
+++ b/internal/ceres/evaluator.h
@@ -0,0 +1,160 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+// keir@google.com (Keir Mierle)
+
+#ifndef CERES_INTERNAL_EVALUATOR_H_
+#define CERES_INTERNAL_EVALUATOR_H_
+
+#include <string>
+#include <vector>
+#include "ceres/internal/port.h"
+#include "ceres/types.h"
+
+namespace ceres {
+
+struct CRSMatrix;
+
+namespace internal {
+
+class Program;
+class SparseMatrix;
+
+// The Evaluator interface offers a way to interact with a least squares cost
+// function that is useful for an optimizer that wants to minimize the least
+// squares objective. This insulates the optimizer from issues like Jacobian
+// storage, parameterization, etc.
+class Evaluator {
+ public:
+ virtual ~Evaluator();
+
+ struct Options {
+ Options()
+ : num_threads(1),
+ num_eliminate_blocks(-1),
+ linear_solver_type(DENSE_QR) {}
+
+ int num_threads;
+ int num_eliminate_blocks;
+ LinearSolverType linear_solver_type;
+ };
+
+ static Evaluator* Create(const Options& options,
+ Program* program,
+ string* error);
+
+
+ // This is used for computing the cost, residual and Jacobian for
+ // returning to the user. For actually solving the optimization
+ // problem, the optimization algorithm uses the ProgramEvaluator
+ // objects directly.
+ //
+ // The residual, gradients and jacobian pointers can be NULL, in
+ // which case they will not be evaluated. cost cannot be NULL.
+ //
+ // The parallelism of the evaluator is controlled by num_threads; it
+ // should be at least 1.
+ //
+ // Note: That this function does not take a parameter vector as
+ // input. The parameter blocks are evaluated on the values contained
+ // in the arrays pointed to by their user_state pointers.
+ //
+ // Also worth noting is that this function mutates program by
+ // calling Program::SetParameterOffsetsAndIndex() on it so that an
+ // evaluator object can be constructed.
+ static bool Evaluate(Program* program,
+ int num_threads,
+ double* cost,
+ vector<double>* residuals,
+ vector<double>* gradient,
+ CRSMatrix* jacobian);
+
+ // Build and return a sparse matrix for storing and working with the Jacobian
+ // of the objective function. The jacobian has dimensions
+ // NumEffectiveParameters() by NumParameters(), and is typically extremely
+ // sparse. Since the sparsity pattern of the Jacobian remains constant over
+ // the lifetime of the optimization problem, this method is used to
+ // instantiate a SparseMatrix object with the appropriate sparsity structure
+ // (which can be an expensive operation) and then reused by the optimization
+ // algorithm and the various linear solvers.
+ //
+ // It is expected that the classes implementing this interface will be aware
+ // of their client's requirements for the kind of sparse matrix storage and
+ // layout that is needed for an efficient implementation. For example
+ // CompressedRowOptimizationProblem creates a compressed row representation of
+ // the jacobian for use with CHOLMOD, where as BlockOptimizationProblem
+ // creates a BlockSparseMatrix representation of the jacobian for use in the
+ // Schur complement based methods.
+ virtual SparseMatrix* CreateJacobian() const = 0;
+
+ // Evaluate the cost function for the given state. Returns the cost,
+ // residuals, and jacobian in the corresponding arguments. Both residuals and
+ // jacobian are optional; to avoid computing them, pass NULL.
+ //
+ // If non-NULL, the Jacobian must have a suitable sparsity pattern; only the
+ // values array of the jacobian is modified.
+ //
+ // state is an array of size NumParameters(), cost is a pointer to a single
+ // double, and residuals is an array of doubles of size NumResiduals().
+ virtual bool Evaluate(const double* state,
+ double* cost,
+ double* residuals,
+ double* gradient,
+ SparseMatrix* jacobian) = 0;
+
+ // Make a change delta (of size NumEffectiveParameters()) to state (of size
+ // NumParameters()) and store the result in state_plus_delta.
+ //
+ // In the case that there are no parameterizations used, this is equivalent to
+ //
+ // state_plus_delta[i] = state[i] + delta[i] ;
+ //
+ // however, the mapping is more complicated in the case of parameterizations
+ // like quaternions. This is the same as the "Plus()" operation in
+ // local_parameterization.h, but operating over the entire state vector for a
+ // problem.
+ virtual bool Plus(const double* state,
+ const double* delta,
+ double* state_plus_delta) const = 0;
+
+ // The number of parameters in the optimization problem.
+ virtual int NumParameters() const = 0;
+
+ // This is the effective number of parameters that the optimizer may adjust.
+ // This applies when there are parameterizations on some of the parameters.
+ virtual int NumEffectiveParameters() const = 0;
+
+ // The number of residuals in the optimization problem.
+ virtual int NumResiduals() const = 0;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_EVALUATOR_H_
diff --git a/internal/ceres/evaluator_test.cc b/internal/ceres/evaluator_test.cc
new file mode 100644
index 0000000..a4e7b25
--- /dev/null
+++ b/internal/ceres/evaluator_test.cc
@@ -0,0 +1,959 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// Tests shared across evaluators. The tests try all combinations of linear
+// solver and num_eliminate_blocks (for schur-based solvers).
+
+#include "ceres/evaluator.h"
+
+#include "ceres/casts.h"
+#include "ceres/cost_function.h"
+#include "ceres/crs_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/problem_impl.h"
+#include "ceres/program.h"
+#include "ceres/sized_cost_function.h"
+#include "ceres/sparse_matrix.h"
+#include "ceres/types.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+// TODO(keir): Consider pushing this into a common test utils file.
+template<int kFactor, int kNumResiduals,
+ int N0 = 0, int N1 = 0, int N2 = 0, bool kSucceeds = true>
+class ParameterIgnoringCostFunction
+ : public SizedCostFunction<kNumResiduals, N0, N1, N2> {
+ typedef SizedCostFunction<kNumResiduals, N0, N1, N2> Base;
+ public:
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ for (int i = 0; i < Base::num_residuals(); ++i) {
+ residuals[i] = i + 1;
+ }
+ if (jacobians) {
+ for (int k = 0; k < Base::parameter_block_sizes().size(); ++k) {
+ // The jacobians here are full sized, but they are transformed in the
+ // evaluator into the "local" jacobian. In the tests, the "subset
+ // constant" parameterization is used, which should pick out columns
+ // from these jacobians. Put values in the jacobian that make this
+ // obvious; in particular, make the jacobians like this:
+ //
+ // 1 2 3 4 ...
+ // 1 2 3 4 ... .* kFactor
+ // 1 2 3 4 ...
+ //
+ // where the multiplication by kFactor makes it easier to distinguish
+ // between Jacobians of different residuals for the same parameter.
+ if (jacobians[k] != NULL) {
+ MatrixRef jacobian(jacobians[k],
+ Base::num_residuals(),
+ Base::parameter_block_sizes()[k]);
+ for (int j = 0; j < Base::parameter_block_sizes()[k]; ++j) {
+ jacobian.col(j).setConstant(kFactor * (j + 1));
+ }
+ }
+ }
+ }
+ return kSucceeds;
+ }
+};
+
+struct ExpectedEvaluation {
+ int num_rows;
+ int num_cols;
+ double cost;
+ const double residuals[50];
+ const double gradient[50];
+ const double jacobian[200];
+};
+
+void CompareEvaluations(int expected_num_rows,
+ int expected_num_cols,
+ double expected_cost,
+ const double* expected_residuals,
+ const double* expected_gradient,
+ const double* expected_jacobian,
+ const double actual_cost,
+ const double* actual_residuals,
+ const double* actual_gradient,
+ const double* actual_jacobian) {
+ EXPECT_EQ(expected_cost, actual_cost);
+
+ if (expected_residuals != NULL) {
+ ConstVectorRef expected_residuals_vector(expected_residuals,
+ expected_num_rows);
+ ConstVectorRef actual_residuals_vector(actual_residuals,
+ expected_num_rows);
+ EXPECT_TRUE((actual_residuals_vector.array() ==
+ expected_residuals_vector.array()).all())
+ << "Actual:\n" << actual_residuals_vector
+ << "\nExpected:\n" << expected_residuals_vector;
+ }
+
+ if (expected_gradient != NULL) {
+ ConstVectorRef expected_gradient_vector(expected_gradient,
+ expected_num_cols);
+ ConstVectorRef actual_gradient_vector(actual_gradient,
+ expected_num_cols);
+
+ EXPECT_TRUE((actual_gradient_vector.array() ==
+ expected_gradient_vector.array()).all())
+ << "Actual:\n" << actual_gradient_vector.transpose()
+ << "\nExpected:\n" << expected_gradient_vector.transpose();
+ }
+
+ if (expected_jacobian != NULL) {
+ ConstMatrixRef expected_jacobian_matrix(expected_jacobian,
+ expected_num_rows,
+ expected_num_cols);
+ ConstMatrixRef actual_jacobian_matrix(actual_jacobian,
+ expected_num_rows,
+ expected_num_cols);
+ EXPECT_TRUE((actual_jacobian_matrix.array() ==
+ expected_jacobian_matrix.array()).all())
+ << "Actual:\n" << actual_jacobian_matrix
+ << "\nExpected:\n" << expected_jacobian_matrix;
+ }
+}
+
+
+struct EvaluatorTest
+ : public ::testing::TestWithParam<pair<LinearSolverType, int> > {
+ Evaluator* CreateEvaluator(Program* program) {
+ // This program is straight from the ProblemImpl, and so has no index/offset
+ // yet; compute it here as required by the evalutor implementations.
+ program->SetParameterOffsetsAndIndex();
+
+ VLOG(1) << "Creating evaluator with type: " << GetParam().first
+ << " and num_eliminate_blocks: " << GetParam().second;
+ Evaluator::Options options;
+ options.linear_solver_type = GetParam().first;
+ options.num_eliminate_blocks = GetParam().second;
+ string error;
+ return Evaluator::Create(options, program, &error);
+ }
+
+ void EvaluateAndCompare(ProblemImpl *problem,
+ int expected_num_rows,
+ int expected_num_cols,
+ double expected_cost,
+ const double* expected_residuals,
+ const double* expected_gradient,
+ const double* expected_jacobian) {
+ scoped_ptr<Evaluator> evaluator(
+ CreateEvaluator(problem->mutable_program()));
+ int num_residuals = expected_num_rows;
+ int num_parameters = expected_num_cols;
+
+ double cost = -1;
+
+ Vector residuals(num_residuals);
+ residuals.setConstant(-2000);
+
+ Vector gradient(num_parameters);
+ gradient.setConstant(-3000);
+
+ scoped_ptr<SparseMatrix> jacobian(evaluator->CreateJacobian());
+
+ ASSERT_EQ(expected_num_rows, evaluator->NumResiduals());
+ ASSERT_EQ(expected_num_cols, evaluator->NumEffectiveParameters());
+ ASSERT_EQ(expected_num_rows, jacobian->num_rows());
+ ASSERT_EQ(expected_num_cols, jacobian->num_cols());
+
+ vector<double> state(evaluator->NumParameters());
+
+ ASSERT_TRUE(evaluator->Evaluate(
+ &state[0],
+ &cost,
+ expected_residuals != NULL ? &residuals[0] : NULL,
+ expected_gradient != NULL ? &gradient[0] : NULL,
+ expected_jacobian != NULL ? jacobian.get() : NULL));
+
+ Matrix actual_jacobian;
+ if (expected_jacobian != NULL) {
+ jacobian->ToDenseMatrix(&actual_jacobian);
+ }
+
+ CompareEvaluations(expected_num_rows,
+ expected_num_cols,
+ expected_cost,
+ expected_residuals,
+ expected_gradient,
+ expected_jacobian,
+ cost,
+ &residuals[0],
+ &gradient[0],
+ actual_jacobian.data());
+ }
+
+ // Try all combinations of parameters for the evaluator.
+ void CheckAllEvaluationCombinations(const ExpectedEvaluation &expected) {
+ for (int i = 0; i < 8; ++i) {
+ EvaluateAndCompare(&problem,
+ expected.num_rows,
+ expected.num_cols,
+ expected.cost,
+ (i & 1) ? expected.residuals : NULL,
+ (i & 2) ? expected.gradient : NULL,
+ (i & 4) ? expected.jacobian : NULL);
+ }
+ }
+
+ // The values are ignored completely by the cost function.
+ double x[2];
+ double y[3];
+ double z[4];
+
+ ProblemImpl problem;
+};
+
+void SetSparseMatrixConstant(SparseMatrix* sparse_matrix, double value) {
+ VectorRef(sparse_matrix->mutable_values(),
+ sparse_matrix->num_nonzeros()).setConstant(value);
+}
+
+TEST_P(EvaluatorTest, SingleResidualProblem) {
+ problem.AddResidualBlock(new ParameterIgnoringCostFunction<1, 3, 2, 3, 4>,
+ NULL,
+ x, y, z);
+
+ ExpectedEvaluation expected = {
+ // Rows/columns
+ 3, 9,
+ // Cost
+ 7.0,
+ // Residuals
+ { 1.0, 2.0, 3.0 },
+ // Gradient
+ { 6.0, 12.0, // x
+ 6.0, 12.0, 18.0, // y
+ 6.0, 12.0, 18.0, 24.0, // z
+ },
+ // Jacobian
+ // x y z
+ { 1, 2, 1, 2, 3, 1, 2, 3, 4,
+ 1, 2, 1, 2, 3, 1, 2, 3, 4,
+ 1, 2, 1, 2, 3, 1, 2, 3, 4
+ }
+ };
+ CheckAllEvaluationCombinations(expected);
+}
+
+TEST_P(EvaluatorTest, SingleResidualProblemWithPermutedParameters) {
+ // Add the parameters in explicit order to force the ordering in the program.
+ problem.AddParameterBlock(x, 2);
+ problem.AddParameterBlock(y, 3);
+ problem.AddParameterBlock(z, 4);
+
+ // Then use a cost function which is similar to the others, but swap around
+ // the ordering of the parameters to the cost function. This shouldn't affect
+ // the jacobian evaluation, but requires explicit handling in the evaluators.
+ // At one point the compressed row evaluator had a bug that went undetected
+ // for a long time, since by chance most users added parameters to the problem
+ // in the same order that they occured as parameters to a cost function.
+ problem.AddResidualBlock(new ParameterIgnoringCostFunction<1, 3, 4, 3, 2>,
+ NULL,
+ z, y, x);
+
+ ExpectedEvaluation expected = {
+ // Rows/columns
+ 3, 9,
+ // Cost
+ 7.0,
+ // Residuals
+ { 1.0, 2.0, 3.0 },
+ // Gradient
+ { 6.0, 12.0, // x
+ 6.0, 12.0, 18.0, // y
+ 6.0, 12.0, 18.0, 24.0, // z
+ },
+ // Jacobian
+ // x y z
+ { 1, 2, 1, 2, 3, 1, 2, 3, 4,
+ 1, 2, 1, 2, 3, 1, 2, 3, 4,
+ 1, 2, 1, 2, 3, 1, 2, 3, 4
+ }
+ };
+ CheckAllEvaluationCombinations(expected);
+}
+
+TEST_P(EvaluatorTest, SingleResidualProblemWithNuisanceParameters) {
+ // These parameters are not used.
+ double a[2];
+ double b[1];
+ double c[1];
+ double d[3];
+
+ // Add the parameters in a mixed order so the Jacobian is "checkered" with the
+ // values from the other parameters.
+ problem.AddParameterBlock(a, 2);
+ problem.AddParameterBlock(x, 2);
+ problem.AddParameterBlock(b, 1);
+ problem.AddParameterBlock(y, 3);
+ problem.AddParameterBlock(c, 1);
+ problem.AddParameterBlock(z, 4);
+ problem.AddParameterBlock(d, 3);
+
+ problem.AddResidualBlock(new ParameterIgnoringCostFunction<1, 3, 2, 3, 4>,
+ NULL,
+ x, y, z);
+
+ ExpectedEvaluation expected = {
+ // Rows/columns
+ 3, 16,
+ // Cost
+ 7.0,
+ // Residuals
+ { 1.0, 2.0, 3.0 },
+ // Gradient
+ { 0.0, 0.0, // a
+ 6.0, 12.0, // x
+ 0.0, // b
+ 6.0, 12.0, 18.0, // y
+ 0.0, // c
+ 6.0, 12.0, 18.0, 24.0, // z
+ 0.0, 0.0, 0.0, // d
+ },
+ // Jacobian
+ // a x b y c z d
+ { 0, 0, 1, 2, 0, 1, 2, 3, 0, 1, 2, 3, 4, 0, 0, 0,
+ 0, 0, 1, 2, 0, 1, 2, 3, 0, 1, 2, 3, 4, 0, 0, 0,
+ 0, 0, 1, 2, 0, 1, 2, 3, 0, 1, 2, 3, 4, 0, 0, 0
+ }
+ };
+ CheckAllEvaluationCombinations(expected);
+}
+
+TEST_P(EvaluatorTest, MultipleResidualProblem) {
+ // Add the parameters in explicit order to force the ordering in the program.
+ problem.AddParameterBlock(x, 2);
+ problem.AddParameterBlock(y, 3);
+ problem.AddParameterBlock(z, 4);
+
+ // f(x, y) in R^2
+ problem.AddResidualBlock(new ParameterIgnoringCostFunction<1, 2, 2, 3>,
+ NULL,
+ x, y);
+
+ // g(x, z) in R^3
+ problem.AddResidualBlock(new ParameterIgnoringCostFunction<2, 3, 2, 4>,
+ NULL,
+ x, z);
+
+ // h(y, z) in R^4
+ problem.AddResidualBlock(new ParameterIgnoringCostFunction<3, 4, 3, 4>,
+ NULL,
+ y, z);
+
+ ExpectedEvaluation expected = {
+ // Rows/columns
+ 9, 9,
+ // Cost
+ // f g h
+ ( 1 + 4 + 1 + 4 + 9 + 1 + 4 + 9 + 16) / 2.0,
+ // Residuals
+ { 1.0, 2.0, // f
+ 1.0, 2.0, 3.0, // g
+ 1.0, 2.0, 3.0, 4.0 // h
+ },
+ // Gradient
+ { 15.0, 30.0, // x
+ 33.0, 66.0, 99.0, // y
+ 42.0, 84.0, 126.0, 168.0 // z
+ },
+ // Jacobian
+ // x y z
+ { /* f(x, y) */ 1, 2, 1, 2, 3, 0, 0, 0, 0,
+ 1, 2, 1, 2, 3, 0, 0, 0, 0,
+
+ /* g(x, z) */ 2, 4, 0, 0, 0, 2, 4, 6, 8,
+ 2, 4, 0, 0, 0, 2, 4, 6, 8,
+ 2, 4, 0, 0, 0, 2, 4, 6, 8,
+
+ /* h(y, z) */ 0, 0, 3, 6, 9, 3, 6, 9, 12,
+ 0, 0, 3, 6, 9, 3, 6, 9, 12,
+ 0, 0, 3, 6, 9, 3, 6, 9, 12,
+ 0, 0, 3, 6, 9, 3, 6, 9, 12
+ }
+ };
+ CheckAllEvaluationCombinations(expected);
+}
+
+TEST_P(EvaluatorTest, MultipleResidualsWithLocalParameterizations) {
+ // Add the parameters in explicit order to force the ordering in the program.
+ problem.AddParameterBlock(x, 2);
+
+ // Fix y's first dimension.
+ vector<int> y_fixed;
+ y_fixed.push_back(0);
+ problem.AddParameterBlock(y, 3, new SubsetParameterization(3, y_fixed));
+
+ // Fix z's second dimension.
+ vector<int> z_fixed;
+ z_fixed.push_back(1);
+ problem.AddParameterBlock(z, 4, new SubsetParameterization(4, z_fixed));
+
+ // f(x, y) in R^2
+ problem.AddResidualBlock(new ParameterIgnoringCostFunction<1, 2, 2, 3>,
+ NULL,
+ x, y);
+
+ // g(x, z) in R^3
+ problem.AddResidualBlock(new ParameterIgnoringCostFunction<2, 3, 2, 4>,
+ NULL,
+ x, z);
+
+ // h(y, z) in R^4
+ problem.AddResidualBlock(new ParameterIgnoringCostFunction<3, 4, 3, 4>,
+ NULL,
+ y, z);
+
+ ExpectedEvaluation expected = {
+ // Rows/columns
+ 9, 7,
+ // Cost
+ // f g h
+ ( 1 + 4 + 1 + 4 + 9 + 1 + 4 + 9 + 16) / 2.0,
+ // Residuals
+ { 1.0, 2.0, // f
+ 1.0, 2.0, 3.0, // g
+ 1.0, 2.0, 3.0, 4.0 // h
+ },
+ // Gradient
+ { 15.0, 30.0, // x
+ 66.0, 99.0, // y
+ 42.0, 126.0, 168.0 // z
+ },
+ // Jacobian
+ // x y z
+ { /* f(x, y) */ 1, 2, 2, 3, 0, 0, 0,
+ 1, 2, 2, 3, 0, 0, 0,
+
+ /* g(x, z) */ 2, 4, 0, 0, 2, 6, 8,
+ 2, 4, 0, 0, 2, 6, 8,
+ 2, 4, 0, 0, 2, 6, 8,
+
+ /* h(y, z) */ 0, 0, 6, 9, 3, 9, 12,
+ 0, 0, 6, 9, 3, 9, 12,
+ 0, 0, 6, 9, 3, 9, 12,
+ 0, 0, 6, 9, 3, 9, 12
+ }
+ };
+ CheckAllEvaluationCombinations(expected);
+}
+
+TEST_P(EvaluatorTest, MultipleResidualProblemWithSomeConstantParameters) {
+ // The values are ignored completely by the cost function.
+ double x[2];
+ double y[3];
+ double z[4];
+
+ // Add the parameters in explicit order to force the ordering in the program.
+ problem.AddParameterBlock(x, 2);
+ problem.AddParameterBlock(y, 3);
+ problem.AddParameterBlock(z, 4);
+
+ // f(x, y) in R^2
+ problem.AddResidualBlock(new ParameterIgnoringCostFunction<1, 2, 2, 3>,
+ NULL,
+ x, y);
+
+ // g(x, z) in R^3
+ problem.AddResidualBlock(new ParameterIgnoringCostFunction<2, 3, 2, 4>,
+ NULL,
+ x, z);
+
+ // h(y, z) in R^4
+ problem.AddResidualBlock(new ParameterIgnoringCostFunction<3, 4, 3, 4>,
+ NULL,
+ y, z);
+
+ // For this test, "z" is constant.
+ problem.SetParameterBlockConstant(z);
+
+ // Create the reduced program which is missing the fixed "z" variable.
+ // Normally, the preprocessing of the program that happens in solver_impl
+ // takes care of this, but we don't want to invoke the solver here.
+ Program reduced_program;
+ vector<ParameterBlock*>* parameter_blocks =
+ problem.mutable_program()->mutable_parameter_blocks();
+
+ // "z" is the last parameter; save it for later and pop it off temporarily.
+ // Note that "z" will still get read during evaluation, so it cannot be
+ // deleted at this point.
+ ParameterBlock* parameter_block_z = parameter_blocks->back();
+ parameter_blocks->pop_back();
+
+ ExpectedEvaluation expected = {
+ // Rows/columns
+ 9, 5,
+ // Cost
+ // f g h
+ ( 1 + 4 + 1 + 4 + 9 + 1 + 4 + 9 + 16) / 2.0,
+ // Residuals
+ { 1.0, 2.0, // f
+ 1.0, 2.0, 3.0, // g
+ 1.0, 2.0, 3.0, 4.0 // h
+ },
+ // Gradient
+ { 15.0, 30.0, // x
+ 33.0, 66.0, 99.0, // y
+ },
+ // Jacobian
+ // x y
+ { /* f(x, y) */ 1, 2, 1, 2, 3,
+ 1, 2, 1, 2, 3,
+
+ /* g(x, z) */ 2, 4, 0, 0, 0,
+ 2, 4, 0, 0, 0,
+ 2, 4, 0, 0, 0,
+
+ /* h(y, z) */ 0, 0, 3, 6, 9,
+ 0, 0, 3, 6, 9,
+ 0, 0, 3, 6, 9,
+ 0, 0, 3, 6, 9
+ }
+ };
+ CheckAllEvaluationCombinations(expected);
+
+ // Restore parameter block z, so it will get freed in a consistent way.
+ parameter_blocks->push_back(parameter_block_z);
+}
+
+TEST_P(EvaluatorTest, EvaluatorAbortsForResidualsThatFailToEvaluate) {
+ // Switch the return value to failure.
+ problem.AddResidualBlock(
+ new ParameterIgnoringCostFunction<20, 3, 2, 3, 4, false>, NULL, x, y, z);
+
+ // The values are ignored.
+ double state[9];
+
+ scoped_ptr<Evaluator> evaluator(CreateEvaluator(problem.mutable_program()));
+ scoped_ptr<SparseMatrix> jacobian(evaluator->CreateJacobian());
+ double cost;
+ EXPECT_FALSE(evaluator->Evaluate(state, &cost, NULL, NULL, NULL));
+}
+
+// In the pairs, the first argument is the linear solver type, and the second
+// argument is num_eliminate_blocks. Changing the num_eliminate_blocks only
+// makes sense for the schur-based solvers.
+//
+// Try all values of num_eliminate_blocks that make sense given that in the
+// tests a maximum of 4 parameter blocks are present.
+INSTANTIATE_TEST_CASE_P(
+ LinearSolvers,
+ EvaluatorTest,
+ ::testing::Values(make_pair(DENSE_QR, 0),
+ make_pair(DENSE_SCHUR, 0),
+ make_pair(DENSE_SCHUR, 1),
+ make_pair(DENSE_SCHUR, 2),
+ make_pair(DENSE_SCHUR, 3),
+ make_pair(DENSE_SCHUR, 4),
+ make_pair(SPARSE_SCHUR, 0),
+ make_pair(SPARSE_SCHUR, 1),
+ make_pair(SPARSE_SCHUR, 2),
+ make_pair(SPARSE_SCHUR, 3),
+ make_pair(SPARSE_SCHUR, 4),
+ make_pair(ITERATIVE_SCHUR, 0),
+ make_pair(ITERATIVE_SCHUR, 1),
+ make_pair(ITERATIVE_SCHUR, 2),
+ make_pair(ITERATIVE_SCHUR, 3),
+ make_pair(ITERATIVE_SCHUR, 4),
+ make_pair(SPARSE_NORMAL_CHOLESKY, 0)));
+
+// Simple cost function used to check if the evaluator is sensitive to
+// state changes.
+class ParameterSensitiveCostFunction : public SizedCostFunction<2, 2> {
+ public:
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ double x1 = parameters[0][0];
+ double x2 = parameters[0][1];
+ residuals[0] = x1 * x1;
+ residuals[1] = x2 * x2;
+
+ if (jacobians != NULL) {
+ double* jacobian = jacobians[0];
+ if (jacobian != NULL) {
+ jacobian[0] = 2.0 * x1;
+ jacobian[1] = 0.0;
+ jacobian[2] = 0.0;
+ jacobian[3] = 2.0 * x2;
+ }
+ }
+ return true;
+ }
+};
+
+TEST(Evaluator, EvaluatorRespectsParameterChanges) {
+ ProblemImpl problem;
+
+ double x[2];
+ x[0] = 1.0;
+ x[1] = 1.0;
+
+ problem.AddResidualBlock(new ParameterSensitiveCostFunction(), NULL, x);
+ Program* program = problem.mutable_program();
+ program->SetParameterOffsetsAndIndex();
+
+ Evaluator::Options options;
+ options.linear_solver_type = DENSE_QR;
+ options.num_eliminate_blocks = 0;
+ string error;
+ scoped_ptr<Evaluator> evaluator(Evaluator::Create(options, program, &error));
+ scoped_ptr<SparseMatrix> jacobian(evaluator->CreateJacobian());
+
+ ASSERT_EQ(2, jacobian->num_rows());
+ ASSERT_EQ(2, jacobian->num_cols());
+
+ double state[2];
+ state[0] = 2.0;
+ state[1] = 3.0;
+
+ // The original state of a residual block comes from the user's
+ // state. So the original state is 1.0, 1.0, and the only way we get
+ // the 2.0, 3.0 results in the following tests is if it respects the
+ // values in the state vector.
+
+ // Cost only; no residuals and no jacobian.
+ {
+ double cost = -1;
+ ASSERT_TRUE(evaluator->Evaluate(state, &cost, NULL, NULL, NULL));
+ EXPECT_EQ(48.5, cost);
+ }
+
+ // Cost and residuals, no jacobian.
+ {
+ double cost = -1;
+ double residuals[2] = { -2, -2 };
+ ASSERT_TRUE(evaluator->Evaluate(state, &cost, residuals, NULL, NULL));
+ EXPECT_EQ(48.5, cost);
+ EXPECT_EQ(4, residuals[0]);
+ EXPECT_EQ(9, residuals[1]);
+ }
+
+ // Cost, residuals, and jacobian.
+ {
+ double cost = -1;
+ double residuals[2] = { -2, -2};
+ SetSparseMatrixConstant(jacobian.get(), -1);
+ ASSERT_TRUE(evaluator->Evaluate(state,
+ &cost,
+ residuals,
+ NULL,
+ jacobian.get()));
+ EXPECT_EQ(48.5, cost);
+ EXPECT_EQ(4, residuals[0]);
+ EXPECT_EQ(9, residuals[1]);
+ Matrix actual_jacobian;
+ jacobian->ToDenseMatrix(&actual_jacobian);
+
+ Matrix expected_jacobian(2, 2);
+ expected_jacobian
+ << 2 * state[0], 0,
+ 0, 2 * state[1];
+
+ EXPECT_TRUE((actual_jacobian.array() == expected_jacobian.array()).all())
+ << "Actual:\n" << actual_jacobian
+ << "\nExpected:\n" << expected_jacobian;
+ }
+}
+
+// Simple cost function used for testing Evaluator::Evaluate.
+//
+// r_i = i - (j + 1) * x_ij^2
+template <int kNumResiduals, int kNumParameterBlocks >
+class QuadraticCostFunction : public CostFunction {
+ public:
+ QuadraticCostFunction() {
+ CHECK_GT(kNumResiduals, 0);
+ CHECK_GT(kNumParameterBlocks, 0);
+ set_num_residuals(kNumResiduals);
+ for (int i = 0; i < kNumParameterBlocks; ++i) {
+ mutable_parameter_block_sizes()->push_back(kNumResiduals);
+ }
+ }
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ for (int i = 0; i < kNumResiduals; ++i) {
+ residuals[i] = i;
+ for (int j = 0; j < kNumParameterBlocks; ++j) {
+ residuals[i] -= (j + 1.0) * parameters[j][i] * parameters[j][i];
+ }
+ }
+
+ if (jacobians == NULL) {
+ return true;
+ }
+
+ for (int j = 0; j < kNumParameterBlocks; ++j) {
+ if (jacobians[j] != NULL) {
+ MatrixRef(jacobians[j], kNumResiduals, kNumResiduals) =
+ (-2.0 * (j + 1.0) *
+ ConstVectorRef(parameters[j], kNumResiduals)).asDiagonal();
+ }
+ }
+
+ return true;
+ }
+};
+
+// Convert a CRSMatrix to a dense Eigen matrix.
+void CRSToDenseMatrix(const CRSMatrix& input, Matrix* output) {
+ Matrix& m = *CHECK_NOTNULL(output);
+ m.resize(input.num_rows, input.num_cols);
+ m.setZero();
+ for (int row = 0; row < input.num_rows; ++row) {
+ for (int j = input.rows[row]; j < input.rows[row + 1]; ++j) {
+ const int col = input.cols[j];
+ m(row, col) = input.values[j];
+ }
+ }
+}
+
+
+class StaticEvaluateTest : public ::testing::Test {
+ protected:
+ void SetUp() {
+ for (int i = 0; i < 6; ++i) {
+ parameters_[i] = static_cast<double>(i + 1);
+ }
+
+ CostFunction* cost_function = new QuadraticCostFunction<2, 2>;
+
+ // f(x, y)
+ problem_.AddResidualBlock(cost_function,
+ NULL,
+ parameters_,
+ parameters_ + 2);
+ // g(y, z)
+ problem_.AddResidualBlock(cost_function,
+ NULL, parameters_ + 2,
+ parameters_ + 4);
+ // h(z, x)
+ problem_.AddResidualBlock(cost_function,
+ NULL,
+ parameters_ + 4,
+ parameters_);
+ }
+
+
+
+ void EvaluateAndCompare(const int expected_num_rows,
+ const int expected_num_cols,
+ const double expected_cost,
+ const double* expected_residuals,
+ const double* expected_gradient,
+ const double* expected_jacobian) {
+ double cost;
+ vector<double> residuals;
+ vector<double> gradient;
+ CRSMatrix jacobian;
+
+ EXPECT_TRUE(Evaluator::Evaluate(
+ problem_.mutable_program(),
+ 1,
+ &cost,
+ expected_residuals != NULL ? &residuals : NULL,
+ expected_gradient != NULL ? &gradient : NULL,
+ expected_jacobian != NULL ? &jacobian : NULL));
+
+ if (expected_residuals != NULL) {
+ EXPECT_EQ(residuals.size(), expected_num_rows);
+ }
+
+ if (expected_gradient != NULL) {
+ EXPECT_EQ(gradient.size(), expected_num_cols);
+ }
+
+ if (expected_jacobian != NULL) {
+ EXPECT_EQ(jacobian.num_rows, expected_num_rows);
+ EXPECT_EQ(jacobian.num_cols, expected_num_cols);
+ }
+
+ Matrix dense_jacobian;
+ if (expected_jacobian != NULL) {
+ CRSToDenseMatrix(jacobian, &dense_jacobian);
+ }
+
+ CompareEvaluations(expected_num_rows,
+ expected_num_cols,
+ expected_cost,
+ expected_residuals,
+ expected_gradient,
+ expected_jacobian,
+ cost,
+ residuals.size() > 0 ? &residuals[0] : NULL,
+ gradient.size() > 0 ? &gradient[0] : NULL,
+ dense_jacobian.data());
+ }
+
+ void CheckAllEvaluationCombinations(const ExpectedEvaluation& expected ) {
+ for (int i = 0; i < 8; ++i) {
+ EvaluateAndCompare(expected.num_rows,
+ expected.num_cols,
+ expected.cost,
+ (i & 1) ? expected.residuals : NULL,
+ (i & 2) ? expected.gradient : NULL,
+ (i & 4) ? expected.jacobian : NULL);
+ }
+
+
+ double new_parameters[6];
+ for (int i = 0; i < 6; ++i) {
+ new_parameters[i] = 0.0;
+ }
+
+ problem_.mutable_program()->StateVectorToParameterBlocks(new_parameters);
+
+ for (int i = 0; i < 8; ++i) {
+ EvaluateAndCompare(expected.num_rows,
+ expected.num_cols,
+ expected.cost,
+ (i & 1) ? expected.residuals : NULL,
+ (i & 2) ? expected.gradient : NULL,
+ (i & 4) ? expected.jacobian : NULL);
+ }
+ }
+
+ ProblemImpl problem_;
+ double parameters_[6];
+};
+
+
+TEST_F(StaticEvaluateTest, MultipleParameterAndResidualBlocks) {
+ ExpectedEvaluation expected = {
+ // Rows/columns
+ 6, 6,
+ // Cost
+ 7607.0,
+ // Residuals
+ { -19.0, -35.0, // f
+ -59.0, -87.0, // g
+ -27.0, -43.0 // h
+ },
+ // Gradient
+ { 146.0, 484.0, // x
+ 582.0, 1256.0, // y
+ 1450.0, 2604.0, // z
+ },
+ // Jacobian
+ // x y z
+ { /* f(x, y) */ -2.0, 0.0, -12.0, 0.0, 0.0, 0.0,
+ 0.0, -4.0, 0.0, -16.0, 0.0, 0.0,
+ /* g(y, z) */ 0.0, 0.0, -6.0, 0.0, -20.0, 0.0,
+ 0.0, 0.0, 0.0, -8.0, 0.0, -24.0,
+ /* h(z, x) */ -4.0, 0.0, 0.0, 0.0, -10.0, 0.0,
+ 0.0, -8.0, 0.0, 0.0, 0.0, -12.0
+ }
+ };
+
+ CheckAllEvaluationCombinations(expected);
+}
+
+TEST_F(StaticEvaluateTest, ConstantParameterBlock) {
+ ExpectedEvaluation expected = {
+ // Rows/columns
+ 6, 6,
+ // Cost
+ 7607.0,
+ // Residuals
+ { -19.0, -35.0, // f
+ -59.0, -87.0, // g
+ -27.0, -43.0 // h
+ },
+
+ // Gradient
+ { 146.0, 484.0, // x
+ 0.0, 0.0, // y
+ 1450.0, 2604.0, // z
+ },
+
+ // Jacobian
+ // x y z
+ { /* f(x, y) */ -2.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, -4.0, 0.0, 0.0, 0.0, 0.0,
+ /* g(y, z) */ 0.0, 0.0, 0.0, 0.0, -20.0, 0.0,
+ 0.0, 0.0, 0.0, 0.0, 0.0, -24.0,
+ /* h(z, x) */ -4.0, 0.0, 0.0, 0.0, -10.0, 0.0,
+ 0.0, -8.0, 0.0, 0.0, 0.0, -12.0
+ }
+ };
+
+ problem_.SetParameterBlockConstant(parameters_ + 2);
+ CheckAllEvaluationCombinations(expected);
+}
+
+TEST_F(StaticEvaluateTest, LocalParameterization) {
+ ExpectedEvaluation expected = {
+ // Rows/columns
+ 6, 5,
+ // Cost
+ 7607.0,
+ // Residuals
+ { -19.0, -35.0, // f
+ -59.0, -87.0, // g
+ -27.0, -43.0 // h
+ },
+ // Gradient
+ { 146.0, 484.0, // x
+ 1256.0, // y with SubsetParameterization
+ 1450.0, 2604.0, // z
+ },
+ // Jacobian
+ // x y z
+ { /* f(x, y) */ -2.0, 0.0, 0.0, 0.0, 0.0,
+ 0.0, -4.0, -16.0, 0.0, 0.0,
+ /* g(y, z) */ 0.0, 0.0, 0.0, -20.0, 0.0,
+ 0.0, 0.0, -8.0, 0.0, -24.0,
+ /* h(z, x) */ -4.0, 0.0, 0.0, -10.0, 0.0,
+ 0.0, -8.0, 0.0, 0.0, -12.0
+ }
+ };
+
+ vector<int> constant_parameters;
+ constant_parameters.push_back(0);
+ problem_.SetParameterization(parameters_ + 2,
+ new SubsetParameterization(2,
+ constant_parameters));
+
+ CheckAllEvaluationCombinations(expected);
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/file.cc b/internal/ceres/file.cc
new file mode 100644
index 0000000..387f359
--- /dev/null
+++ b/internal/ceres/file.cc
@@ -0,0 +1,93 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// Really simple file IO.
+
+#include <cstdio>
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::string;
+
+void WriteStringToFileOrDie(const string &data, const string &filename) {
+ FILE* file_descriptor = fopen(filename.c_str(), "wb");
+ if (!file_descriptor) {
+ LOG(FATAL) << "Couldn't write to file: " << filename;
+ }
+ fwrite(data.c_str(), 1, data.size(), file_descriptor);
+ fclose(file_descriptor);
+}
+
+void ReadFileToStringOrDie(const string &filename, string *data) {
+ FILE* file_descriptor = fopen(filename.c_str(), "r");
+
+ if (!file_descriptor) {
+ LOG(FATAL) << "Couldn't read file: " << filename;
+ }
+
+ // Resize the input buffer appropriately.
+ fseek(file_descriptor, 0L, SEEK_END);
+ int num_bytes = ftell(file_descriptor);
+ data->resize(num_bytes);
+
+ // Read the data.
+ fseek(file_descriptor, 0L, SEEK_SET);
+ int num_read = fread(&((*data)[0]),
+ sizeof((*data)[0]),
+ num_bytes,
+ file_descriptor);
+ if (num_read != num_bytes) {
+ LOG(FATAL) << "Couldn't read all of " << filename
+ << "expected bytes: " << num_bytes * sizeof((*data)[0])
+ << "actual bytes: " << num_read;
+ }
+ fclose(file_descriptor);
+}
+
+string JoinPath(const string& dirname, const string& basename) {
+#ifdef _WIN32
+ static const char separator = '\\';
+#else
+ static const char separator = '/';
+#endif // _WIN32
+
+ if ((!basename.empty() && basename[0] == separator) || dirname.empty()) {
+ return basename;
+ } else if (dirname[dirname.size() - 1] == separator) {
+ return dirname + basename;
+ } else {
+ return dirname + string(&separator, 1) + basename;
+ }
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/file.h b/internal/ceres/file.h
new file mode 100644
index 0000000..4741d65
--- /dev/null
+++ b/internal/ceres/file.h
@@ -0,0 +1,52 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// Simple file IO support. This is a portability shim.
+
+#ifndef CERES_INTERNAL_FILE_H_
+#define CERES_INTERNAL_FILE_H_
+
+#include <string>
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+void WriteStringToFileOrDie(const string &data, const string &filename);
+void ReadFileToStringOrDie(const string &filename, string *data);
+
+// Join two path components, adding a slash if necessary. If basename is an
+// absolute path then JoinPath ignores dirname and simply returns basename.
+string JoinPath(const string& dirname, const string& basename);
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_FILE_H_
diff --git a/internal/ceres/generate_eliminator_specialization.py b/internal/ceres/generate_eliminator_specialization.py
new file mode 100644
index 0000000..af9873f
--- /dev/null
+++ b/internal/ceres/generate_eliminator_specialization.py
@@ -0,0 +1,186 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+#
+# Copyright 2011 Google Inc. All Rights Reserved.
+# Author: sameeragarwal@google.com (Sameer Agarwal)
+#
+# Script for explicitly generating template specialization of the
+# SchurEliminator class. It is a rather large class
+# and the number of explicit instantiations is also large. Explicitly
+# generating these instantiations in separate .cc files breaks the
+# compilation into separate compilation unit rather than one large cc
+# file which takes 2+GB of RAM to compile.
+#
+# This script creates two sets of files.
+#
+# 1. schur_eliminator_x_x_x.cc
+# where, the x indicates the template parameters and
+#
+# 2. schur_eliminator.cc
+#
+# that contains a factory function for instantiating these classes
+# based on runtime parameters.
+#
+# The list of tuples, specializations indicates the set of
+# specializations that is generated.
+
+# Set of template specializations to generate
+SPECIALIZATIONS = [(2, 2, 2),
+ (2, 2, 3),
+ (2, 2, 4),
+ (2, 2, "Dynamic"),
+ (2, 3, 3),
+ (2, 3, 4),
+ (2, 3, 9),
+ (2, 3, "Dynamic"),
+ (2, 4, 3),
+ (2, 4, 4),
+ (2, 4, "Dynamic"),
+ (4, 4, 2),
+ (4, 4, 3),
+ (4, 4, 4),
+ (4, 4, "Dynamic"),
+ ("Dynamic", "Dynamic", "Dynamic")]
+
+SPECIALIZATION_FILE = """// Copyright 2011 Google Inc. All Rights Reserved.
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_eliminator_specializations.py.
+// Editing it manually is not recommended.
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<%s, %s, %s>;
+
+} // namespace internal
+} // namespace ceres
+
+"""
+
+FACTORY_FILE_HEADER = """// Copyright 2011 Google Inc. All Rights Reserved.
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+// Editing it manually is not recommended.
+
+#include "ceres/linear_solver.h"
+#include "ceres/schur_eliminator.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+SchurEliminatorBase*
+SchurEliminatorBase::Create(const LinearSolver::Options& options) {
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+"""
+
+FACTORY_CONDITIONAL = """ if ((options.row_block_size == %s) &&
+ (options.e_block_size == %s) &&
+ (options.f_block_size == %s)) {
+ return new SchurEliminator<%s, %s, %s>(options);
+ }
+"""
+
+FACTORY_FOOTER = """
+#endif
+ VLOG(1) << "Template specializations not found for <"
+ << options.row_block_size << ","
+ << options.e_block_size << ","
+ << options.f_block_size << ">";
+ return new SchurEliminator<Dynamic, Dynamic, Dynamic>(options);
+}
+
+} // namespace internal
+} // namespace ceres
+"""
+
+
+def SuffixForSize(size):
+ if size == "Dynamic":
+ return "d"
+ return str(size)
+
+
+def SpecializationFilename(prefix, row_block_size, e_block_size, f_block_size):
+ return "_".join([prefix] + map(SuffixForSize, (row_block_size,
+ e_block_size,
+ f_block_size)))
+
+
+def Specialize():
+ """
+ Generate specialization code and the conditionals to instantiate it.
+ """
+ f = open("schur_eliminator.cc", "w")
+ f.write(FACTORY_FILE_HEADER)
+
+ for row_block_size, e_block_size, f_block_size in SPECIALIZATIONS:
+ output = SpecializationFilename("generated/schur_eliminator",
+ row_block_size,
+ e_block_size,
+ f_block_size) + ".cc"
+ fptr = open(output, "w")
+ fptr.write(SPECIALIZATION_FILE % (row_block_size,
+ e_block_size,
+ f_block_size))
+ fptr.close()
+
+ f.write(FACTORY_CONDITIONAL % (row_block_size,
+ e_block_size,
+ f_block_size,
+ row_block_size,
+ e_block_size,
+ f_block_size))
+ f.write(FACTORY_FOOTER)
+ f.close()
+
+
+if __name__ == "__main__":
+ Specialize()
diff --git a/internal/ceres/generated/schur_eliminator_2_2_2.cc b/internal/ceres/generated/schur_eliminator_2_2_2.cc
new file mode 100644
index 0000000..5529386
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_2_2_2.cc
@@ -0,0 +1,53 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_eliminator_specializations.py.
+// Editing it manually is not recommended.
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 2, 2>;
+
+} // namespace internal
+} // namespace ceres
+
diff --git a/internal/ceres/generated/schur_eliminator_2_2_3.cc b/internal/ceres/generated/schur_eliminator_2_2_3.cc
new file mode 100644
index 0000000..fd7af95
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_2_2_3.cc
@@ -0,0 +1,53 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_eliminator_specializations.py.
+// Editing it manually is not recommended.
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 2, 3>;
+
+} // namespace internal
+} // namespace ceres
+
diff --git a/internal/ceres/generated/schur_eliminator_2_2_4.cc b/internal/ceres/generated/schur_eliminator_2_2_4.cc
new file mode 100644
index 0000000..109483e
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_2_2_4.cc
@@ -0,0 +1,53 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_eliminator_specializations.py.
+// Editing it manually is not recommended.
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 2, 4>;
+
+} // namespace internal
+} // namespace ceres
+
diff --git a/internal/ceres/generated/schur_eliminator_2_2_d.cc b/internal/ceres/generated/schur_eliminator_2_2_d.cc
new file mode 100644
index 0000000..b93e82f
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_2_2_d.cc
@@ -0,0 +1,53 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_eliminator_specializations.py.
+// Editing it manually is not recommended.
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 2, Dynamic>;
+
+} // namespace internal
+} // namespace ceres
+
diff --git a/internal/ceres/generated/schur_eliminator_2_3_3.cc b/internal/ceres/generated/schur_eliminator_2_3_3.cc
new file mode 100644
index 0000000..86352c0
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_2_3_3.cc
@@ -0,0 +1,53 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_eliminator_specializations.py.
+// Editing it manually is not recommended.
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 3, 3>;
+
+} // namespace internal
+} // namespace ceres
+
diff --git a/internal/ceres/generated/schur_eliminator_2_3_4.cc b/internal/ceres/generated/schur_eliminator_2_3_4.cc
new file mode 100644
index 0000000..200df7f
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_2_3_4.cc
@@ -0,0 +1,53 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_eliminator_specializations.py.
+// Editing it manually is not recommended.
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 3, 4>;
+
+} // namespace internal
+} // namespace ceres
+
diff --git a/internal/ceres/generated/schur_eliminator_2_3_9.cc b/internal/ceres/generated/schur_eliminator_2_3_9.cc
new file mode 100644
index 0000000..1fda343
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_2_3_9.cc
@@ -0,0 +1,53 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_eliminator_specializations.py.
+// Editing it manually is not recommended.
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 3, 9>;
+
+} // namespace internal
+} // namespace ceres
+
diff --git a/internal/ceres/generated/schur_eliminator_2_3_d.cc b/internal/ceres/generated/schur_eliminator_2_3_d.cc
new file mode 100644
index 0000000..385cd2d
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_2_3_d.cc
@@ -0,0 +1,53 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_eliminator_specializations.py.
+// Editing it manually is not recommended.
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 3, Dynamic>;
+
+} // namespace internal
+} // namespace ceres
+
diff --git a/internal/ceres/generated/schur_eliminator_2_4_3.cc b/internal/ceres/generated/schur_eliminator_2_4_3.cc
new file mode 100644
index 0000000..7b15d63
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_2_4_3.cc
@@ -0,0 +1,53 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_eliminator_specializations.py.
+// Editing it manually is not recommended.
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 4, 3>;
+
+} // namespace internal
+} // namespace ceres
+
diff --git a/internal/ceres/generated/schur_eliminator_2_4_4.cc b/internal/ceres/generated/schur_eliminator_2_4_4.cc
new file mode 100644
index 0000000..29a610d
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_2_4_4.cc
@@ -0,0 +1,53 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_eliminator_specializations.py.
+// Editing it manually is not recommended.
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 4, 4>;
+
+} // namespace internal
+} // namespace ceres
+
diff --git a/internal/ceres/generated/schur_eliminator_2_4_d.cc b/internal/ceres/generated/schur_eliminator_2_4_d.cc
new file mode 100644
index 0000000..a3bc4dc
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_2_4_d.cc
@@ -0,0 +1,53 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_eliminator_specializations.py.
+// Editing it manually is not recommended.
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<2, 4, Dynamic>;
+
+} // namespace internal
+} // namespace ceres
+
diff --git a/internal/ceres/generated/schur_eliminator_4_4_2.cc b/internal/ceres/generated/schur_eliminator_4_4_2.cc
new file mode 100644
index 0000000..f71a4f6
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_4_4_2.cc
@@ -0,0 +1,53 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_eliminator_specializations.py.
+// Editing it manually is not recommended.
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<4, 4, 2>;
+
+} // namespace internal
+} // namespace ceres
+
diff --git a/internal/ceres/generated/schur_eliminator_4_4_3.cc b/internal/ceres/generated/schur_eliminator_4_4_3.cc
new file mode 100644
index 0000000..52259fb
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_4_4_3.cc
@@ -0,0 +1,53 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_eliminator_specializations.py.
+// Editing it manually is not recommended.
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<4, 4, 3>;
+
+} // namespace internal
+} // namespace ceres
+
diff --git a/internal/ceres/generated/schur_eliminator_4_4_4.cc b/internal/ceres/generated/schur_eliminator_4_4_4.cc
new file mode 100644
index 0000000..775424e
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_4_4_4.cc
@@ -0,0 +1,53 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_eliminator_specializations.py.
+// Editing it manually is not recommended.
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<4, 4, 4>;
+
+} // namespace internal
+} // namespace ceres
+
diff --git a/internal/ceres/generated/schur_eliminator_4_4_d.cc b/internal/ceres/generated/schur_eliminator_4_4_d.cc
new file mode 100644
index 0000000..97cde59
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_4_4_d.cc
@@ -0,0 +1,53 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_eliminator_specializations.py.
+// Editing it manually is not recommended.
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<4, 4, Dynamic>;
+
+} // namespace internal
+} // namespace ceres
+
diff --git a/internal/ceres/generated/schur_eliminator_d_d_d.cc b/internal/ceres/generated/schur_eliminator_d_d_d.cc
new file mode 100644
index 0000000..4cba32e
--- /dev/null
+++ b/internal/ceres/generated/schur_eliminator_d_d_d.cc
@@ -0,0 +1,53 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Template specialization of SchurEliminator.
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_eliminator_specializations.py.
+// Editing it manually is not recommended.
+
+#include "ceres/schur_eliminator_impl.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+template class SchurEliminator<Dynamic, Dynamic, Dynamic>;
+
+} // namespace internal
+} // namespace ceres
+
diff --git a/internal/ceres/gmock/gmock.h b/internal/ceres/gmock/gmock.h
new file mode 100644
index 0000000..2ce6dc1
--- /dev/null
+++ b/internal/ceres/gmock/gmock.h
@@ -0,0 +1,12822 @@
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This is the main header file a user should include.
+
+#ifndef GMOCK_INCLUDE_GMOCK_GMOCK_H_
+#define GMOCK_INCLUDE_GMOCK_GMOCK_H_
+
+// This file implements the following syntax:
+//
+// ON_CALL(mock_object.Method(...))
+// .With(...) ?
+// .WillByDefault(...);
+//
+// where With() is optional and WillByDefault() must appear exactly
+// once.
+//
+// EXPECT_CALL(mock_object.Method(...))
+// .With(...) ?
+// .Times(...) ?
+// .InSequence(...) *
+// .WillOnce(...) *
+// .WillRepeatedly(...) ?
+// .RetiresOnSaturation() ? ;
+//
+// where all clauses are optional and WillOnce() can be repeated.
+
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements some commonly used actions.
+
+#ifndef GMOCK_INCLUDE_GMOCK_GMOCK_ACTIONS_H_
+#define GMOCK_INCLUDE_GMOCK_GMOCK_ACTIONS_H_
+
+#include <algorithm>
+#include <string>
+
+#ifndef _WIN32_WCE
+# include <errno.h>
+#endif
+
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file defines some utilities useful for implementing Google
+// Mock. They are subject to change without notice, so please DO NOT
+// USE THEM IN USER CODE.
+
+#ifndef GMOCK_INCLUDE_GMOCK_INTERNAL_GMOCK_INTERNAL_UTILS_H_
+#define GMOCK_INCLUDE_GMOCK_INTERNAL_GMOCK_INTERNAL_UTILS_H_
+
+#include <stdio.h>
+#include <ostream> // NOLINT
+#include <string>
+
+// This file was GENERATED by a script. DO NOT EDIT BY HAND!!!
+
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file contains template meta-programming utility classes needed
+// for implementing Google Mock.
+
+#ifndef GMOCK_INCLUDE_GMOCK_INTERNAL_GMOCK_GENERATED_INTERNAL_UTILS_H_
+#define GMOCK_INCLUDE_GMOCK_INTERNAL_GMOCK_GENERATED_INTERNAL_UTILS_H_
+
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: vadimb@google.com (Vadim Berman)
+//
+// Low-level types and utilities for porting Google Mock to various
+// platforms. They are subject to change without notice. DO NOT USE
+// THEM IN USER CODE.
+
+#ifndef GMOCK_INCLUDE_GMOCK_INTERNAL_GMOCK_PORT_H_
+#define GMOCK_INCLUDE_GMOCK_INTERNAL_GMOCK_PORT_H_
+
+#include <assert.h>
+#include <stdlib.h>
+#include <iostream>
+
+// Most of the types needed for porting Google Mock are also required
+// for Google Test and are defined in gtest-port.h.
+#include "gtest/gtest.h"
+
+// To avoid conditional compilation everywhere, we make it
+// gmock-port.h's responsibility to #include the header implementing
+// tr1/tuple. gmock-port.h does this via gtest-port.h, which is
+// guaranteed to pull in the tuple header.
+
+// For MS Visual C++, check the compiler version. At least VS 2003 is
+// required to compile Google Mock.
+#if defined(_MSC_VER) && _MSC_VER < 1310
+# error "At least Visual C++ 2003 (7.1) is required to compile Google Mock."
+#endif
+
+// Macro for referencing flags. This is public as we want the user to
+// use this syntax to reference Google Mock flags.
+#define GMOCK_FLAG(name) FLAGS_gmock_##name
+
+// Macros for declaring flags.
+#define GMOCK_DECLARE_bool_(name) extern bool GMOCK_FLAG(name)
+#define GMOCK_DECLARE_int32_(name) \
+ extern ::testing::internal::Int32 GMOCK_FLAG(name)
+#define GMOCK_DECLARE_string_(name) \
+ extern ::testing::internal::String GMOCK_FLAG(name)
+
+// Macros for defining flags.
+#define GMOCK_DEFINE_bool_(name, default_val, doc) \
+ bool GMOCK_FLAG(name) = (default_val)
+#define GMOCK_DEFINE_int32_(name, default_val, doc) \
+ ::testing::internal::Int32 GMOCK_FLAG(name) = (default_val)
+#define GMOCK_DEFINE_string_(name, default_val, doc) \
+ ::testing::internal::String GMOCK_FLAG(name) = (default_val)
+
+#endif // GMOCK_INCLUDE_GMOCK_INTERNAL_GMOCK_PORT_H_
+
+namespace testing {
+
+template <typename T>
+class Matcher;
+
+namespace internal {
+
+// An IgnoredValue object can be implicitly constructed from ANY value.
+// This is used in implementing the IgnoreResult(a) action.
+class IgnoredValue {
+ public:
+ // This constructor template allows any value to be implicitly
+ // converted to IgnoredValue. The object has no data member and
+ // doesn't try to remember anything about the argument. We
+ // deliberately omit the 'explicit' keyword in order to allow the
+ // conversion to be implicit.
+ template <typename T>
+ IgnoredValue(const T&) {}
+};
+
+// MatcherTuple<T>::type is a tuple type where each field is a Matcher
+// for the corresponding field in tuple type T.
+template <typename Tuple>
+struct MatcherTuple;
+
+template <>
+struct MatcherTuple< ::std::tr1::tuple<> > {
+ typedef ::std::tr1::tuple< > type;
+};
+
+template <typename A1>
+struct MatcherTuple< ::std::tr1::tuple<A1> > {
+ typedef ::std::tr1::tuple<Matcher<A1> > type;
+};
+
+template <typename A1, typename A2>
+struct MatcherTuple< ::std::tr1::tuple<A1, A2> > {
+ typedef ::std::tr1::tuple<Matcher<A1>, Matcher<A2> > type;
+};
+
+template <typename A1, typename A2, typename A3>
+struct MatcherTuple< ::std::tr1::tuple<A1, A2, A3> > {
+ typedef ::std::tr1::tuple<Matcher<A1>, Matcher<A2>, Matcher<A3> > type;
+};
+
+template <typename A1, typename A2, typename A3, typename A4>
+struct MatcherTuple< ::std::tr1::tuple<A1, A2, A3, A4> > {
+ typedef ::std::tr1::tuple<Matcher<A1>, Matcher<A2>, Matcher<A3>,
+ Matcher<A4> > type;
+};
+
+template <typename A1, typename A2, typename A3, typename A4, typename A5>
+struct MatcherTuple< ::std::tr1::tuple<A1, A2, A3, A4, A5> > {
+ typedef ::std::tr1::tuple<Matcher<A1>, Matcher<A2>, Matcher<A3>, Matcher<A4>,
+ Matcher<A5> > type;
+};
+
+template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6>
+struct MatcherTuple< ::std::tr1::tuple<A1, A2, A3, A4, A5, A6> > {
+ typedef ::std::tr1::tuple<Matcher<A1>, Matcher<A2>, Matcher<A3>, Matcher<A4>,
+ Matcher<A5>, Matcher<A6> > type;
+};
+
+template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6, typename A7>
+struct MatcherTuple< ::std::tr1::tuple<A1, A2, A3, A4, A5, A6, A7> > {
+ typedef ::std::tr1::tuple<Matcher<A1>, Matcher<A2>, Matcher<A3>, Matcher<A4>,
+ Matcher<A5>, Matcher<A6>, Matcher<A7> > type;
+};
+
+template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6, typename A7, typename A8>
+struct MatcherTuple< ::std::tr1::tuple<A1, A2, A3, A4, A5, A6, A7, A8> > {
+ typedef ::std::tr1::tuple<Matcher<A1>, Matcher<A2>, Matcher<A3>, Matcher<A4>,
+ Matcher<A5>, Matcher<A6>, Matcher<A7>, Matcher<A8> > type;
+};
+
+template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6, typename A7, typename A8, typename A9>
+struct MatcherTuple< ::std::tr1::tuple<A1, A2, A3, A4, A5, A6, A7, A8, A9> > {
+ typedef ::std::tr1::tuple<Matcher<A1>, Matcher<A2>, Matcher<A3>, Matcher<A4>,
+ Matcher<A5>, Matcher<A6>, Matcher<A7>, Matcher<A8>, Matcher<A9> > type;
+};
+
+template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6, typename A7, typename A8, typename A9, typename A10>
+struct MatcherTuple< ::std::tr1::tuple<A1, A2, A3, A4, A5, A6, A7, A8, A9,
+ A10> > {
+ typedef ::std::tr1::tuple<Matcher<A1>, Matcher<A2>, Matcher<A3>, Matcher<A4>,
+ Matcher<A5>, Matcher<A6>, Matcher<A7>, Matcher<A8>, Matcher<A9>,
+ Matcher<A10> > type;
+};
+
+// Template struct Function<F>, where F must be a function type, contains
+// the following typedefs:
+//
+// Result: the function's return type.
+// ArgumentN: the type of the N-th argument, where N starts with 1.
+// ArgumentTuple: the tuple type consisting of all parameters of F.
+// ArgumentMatcherTuple: the tuple type consisting of Matchers for all
+// parameters of F.
+// MakeResultVoid: the function type obtained by substituting void
+// for the return type of F.
+// MakeResultIgnoredValue:
+// the function type obtained by substituting Something
+// for the return type of F.
+template <typename F>
+struct Function;
+
+template <typename R>
+struct Function<R()> {
+ typedef R Result;
+ typedef ::std::tr1::tuple<> ArgumentTuple;
+ typedef typename MatcherTuple<ArgumentTuple>::type ArgumentMatcherTuple;
+ typedef void MakeResultVoid();
+ typedef IgnoredValue MakeResultIgnoredValue();
+};
+
+template <typename R, typename A1>
+struct Function<R(A1)>
+ : Function<R()> {
+ typedef A1 Argument1;
+ typedef ::std::tr1::tuple<A1> ArgumentTuple;
+ typedef typename MatcherTuple<ArgumentTuple>::type ArgumentMatcherTuple;
+ typedef void MakeResultVoid(A1);
+ typedef IgnoredValue MakeResultIgnoredValue(A1);
+};
+
+template <typename R, typename A1, typename A2>
+struct Function<R(A1, A2)>
+ : Function<R(A1)> {
+ typedef A2 Argument2;
+ typedef ::std::tr1::tuple<A1, A2> ArgumentTuple;
+ typedef typename MatcherTuple<ArgumentTuple>::type ArgumentMatcherTuple;
+ typedef void MakeResultVoid(A1, A2);
+ typedef IgnoredValue MakeResultIgnoredValue(A1, A2);
+};
+
+template <typename R, typename A1, typename A2, typename A3>
+struct Function<R(A1, A2, A3)>
+ : Function<R(A1, A2)> {
+ typedef A3 Argument3;
+ typedef ::std::tr1::tuple<A1, A2, A3> ArgumentTuple;
+ typedef typename MatcherTuple<ArgumentTuple>::type ArgumentMatcherTuple;
+ typedef void MakeResultVoid(A1, A2, A3);
+ typedef IgnoredValue MakeResultIgnoredValue(A1, A2, A3);
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4>
+struct Function<R(A1, A2, A3, A4)>
+ : Function<R(A1, A2, A3)> {
+ typedef A4 Argument4;
+ typedef ::std::tr1::tuple<A1, A2, A3, A4> ArgumentTuple;
+ typedef typename MatcherTuple<ArgumentTuple>::type ArgumentMatcherTuple;
+ typedef void MakeResultVoid(A1, A2, A3, A4);
+ typedef IgnoredValue MakeResultIgnoredValue(A1, A2, A3, A4);
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5>
+struct Function<R(A1, A2, A3, A4, A5)>
+ : Function<R(A1, A2, A3, A4)> {
+ typedef A5 Argument5;
+ typedef ::std::tr1::tuple<A1, A2, A3, A4, A5> ArgumentTuple;
+ typedef typename MatcherTuple<ArgumentTuple>::type ArgumentMatcherTuple;
+ typedef void MakeResultVoid(A1, A2, A3, A4, A5);
+ typedef IgnoredValue MakeResultIgnoredValue(A1, A2, A3, A4, A5);
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6>
+struct Function<R(A1, A2, A3, A4, A5, A6)>
+ : Function<R(A1, A2, A3, A4, A5)> {
+ typedef A6 Argument6;
+ typedef ::std::tr1::tuple<A1, A2, A3, A4, A5, A6> ArgumentTuple;
+ typedef typename MatcherTuple<ArgumentTuple>::type ArgumentMatcherTuple;
+ typedef void MakeResultVoid(A1, A2, A3, A4, A5, A6);
+ typedef IgnoredValue MakeResultIgnoredValue(A1, A2, A3, A4, A5, A6);
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6, typename A7>
+struct Function<R(A1, A2, A3, A4, A5, A6, A7)>
+ : Function<R(A1, A2, A3, A4, A5, A6)> {
+ typedef A7 Argument7;
+ typedef ::std::tr1::tuple<A1, A2, A3, A4, A5, A6, A7> ArgumentTuple;
+ typedef typename MatcherTuple<ArgumentTuple>::type ArgumentMatcherTuple;
+ typedef void MakeResultVoid(A1, A2, A3, A4, A5, A6, A7);
+ typedef IgnoredValue MakeResultIgnoredValue(A1, A2, A3, A4, A5, A6, A7);
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6, typename A7, typename A8>
+struct Function<R(A1, A2, A3, A4, A5, A6, A7, A8)>
+ : Function<R(A1, A2, A3, A4, A5, A6, A7)> {
+ typedef A8 Argument8;
+ typedef ::std::tr1::tuple<A1, A2, A3, A4, A5, A6, A7, A8> ArgumentTuple;
+ typedef typename MatcherTuple<ArgumentTuple>::type ArgumentMatcherTuple;
+ typedef void MakeResultVoid(A1, A2, A3, A4, A5, A6, A7, A8);
+ typedef IgnoredValue MakeResultIgnoredValue(A1, A2, A3, A4, A5, A6, A7, A8);
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6, typename A7, typename A8, typename A9>
+struct Function<R(A1, A2, A3, A4, A5, A6, A7, A8, A9)>
+ : Function<R(A1, A2, A3, A4, A5, A6, A7, A8)> {
+ typedef A9 Argument9;
+ typedef ::std::tr1::tuple<A1, A2, A3, A4, A5, A6, A7, A8, A9> ArgumentTuple;
+ typedef typename MatcherTuple<ArgumentTuple>::type ArgumentMatcherTuple;
+ typedef void MakeResultVoid(A1, A2, A3, A4, A5, A6, A7, A8, A9);
+ typedef IgnoredValue MakeResultIgnoredValue(A1, A2, A3, A4, A5, A6, A7, A8,
+ A9);
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6, typename A7, typename A8, typename A9,
+ typename A10>
+struct Function<R(A1, A2, A3, A4, A5, A6, A7, A8, A9, A10)>
+ : Function<R(A1, A2, A3, A4, A5, A6, A7, A8, A9)> {
+ typedef A10 Argument10;
+ typedef ::std::tr1::tuple<A1, A2, A3, A4, A5, A6, A7, A8, A9,
+ A10> ArgumentTuple;
+ typedef typename MatcherTuple<ArgumentTuple>::type ArgumentMatcherTuple;
+ typedef void MakeResultVoid(A1, A2, A3, A4, A5, A6, A7, A8, A9, A10);
+ typedef IgnoredValue MakeResultIgnoredValue(A1, A2, A3, A4, A5, A6, A7, A8,
+ A9, A10);
+};
+
+} // namespace internal
+
+} // namespace testing
+
+#endif // GMOCK_INCLUDE_GMOCK_INTERNAL_GMOCK_GENERATED_INTERNAL_UTILS_H_
+
+namespace testing {
+namespace internal {
+
+// Converts an identifier name to a space-separated list of lower-case
+// words. Each maximum substring of the form [A-Za-z][a-z]*|\d+ is
+// treated as one word. For example, both "FooBar123" and
+// "foo_bar_123" are converted to "foo bar 123".
+string ConvertIdentifierNameToWords(const char* id_name);
+
+// PointeeOf<Pointer>::type is the type of a value pointed to by a
+// Pointer, which can be either a smart pointer or a raw pointer. The
+// following default implementation is for the case where Pointer is a
+// smart pointer.
+template <typename Pointer>
+struct PointeeOf {
+ // Smart pointer classes define type element_type as the type of
+ // their pointees.
+ typedef typename Pointer::element_type type;
+};
+// This specialization is for the raw pointer case.
+template <typename T>
+struct PointeeOf<T*> { typedef T type; }; // NOLINT
+
+// GetRawPointer(p) returns the raw pointer underlying p when p is a
+// smart pointer, or returns p itself when p is already a raw pointer.
+// The following default implementation is for the smart pointer case.
+template <typename Pointer>
+inline typename Pointer::element_type* GetRawPointer(const Pointer& p) {
+ return p.get();
+}
+// This overloaded version is for the raw pointer case.
+template <typename Element>
+inline Element* GetRawPointer(Element* p) { return p; }
+
+// This comparator allows linked_ptr to be stored in sets.
+template <typename T>
+struct LinkedPtrLessThan {
+ bool operator()(const ::testing::internal::linked_ptr<T>& lhs,
+ const ::testing::internal::linked_ptr<T>& rhs) const {
+ return lhs.get() < rhs.get();
+ }
+};
+
+// Symbian compilation can be done with wchar_t being either a native
+// type or a typedef. Using Google Mock with OpenC without wchar_t
+// should require the definition of _STLP_NO_WCHAR_T.
+//
+// MSVC treats wchar_t as a native type usually, but treats it as the
+// same as unsigned short when the compiler option /Zc:wchar_t- is
+// specified. It defines _NATIVE_WCHAR_T_DEFINED symbol when wchar_t
+// is a native type.
+#if (GTEST_OS_SYMBIAN && defined(_STLP_NO_WCHAR_T)) || \
+ (defined(_MSC_VER) && !defined(_NATIVE_WCHAR_T_DEFINED))
+// wchar_t is a typedef.
+#else
+# define GMOCK_WCHAR_T_IS_NATIVE_ 1
+#endif
+
+// signed wchar_t and unsigned wchar_t are NOT in the C++ standard.
+// Using them is a bad practice and not portable. So DON'T use them.
+//
+// Still, Google Mock is designed to work even if the user uses signed
+// wchar_t or unsigned wchar_t (obviously, assuming the compiler
+// supports them).
+//
+// To gcc,
+// wchar_t == signed wchar_t != unsigned wchar_t == unsigned int
+#ifdef __GNUC__
+// signed/unsigned wchar_t are valid types.
+# define GMOCK_HAS_SIGNED_WCHAR_T_ 1
+#endif
+
+// In what follows, we use the term "kind" to indicate whether a type
+// is bool, an integer type (excluding bool), a floating-point type,
+// or none of them. This categorization is useful for determining
+// when a matcher argument type can be safely converted to another
+// type in the implementation of SafeMatcherCast.
+enum TypeKind {
+ kBool, kInteger, kFloatingPoint, kOther
+};
+
+// KindOf<T>::value is the kind of type T.
+template <typename T> struct KindOf {
+ enum { value = kOther }; // The default kind.
+};
+
+// This macro declares that the kind of 'type' is 'kind'.
+#define GMOCK_DECLARE_KIND_(type, kind) \
+ template <> struct KindOf<type> { enum { value = kind }; }
+
+GMOCK_DECLARE_KIND_(bool, kBool);
+
+// All standard integer types.
+GMOCK_DECLARE_KIND_(char, kInteger);
+GMOCK_DECLARE_KIND_(signed char, kInteger);
+GMOCK_DECLARE_KIND_(unsigned char, kInteger);
+GMOCK_DECLARE_KIND_(short, kInteger); // NOLINT
+GMOCK_DECLARE_KIND_(unsigned short, kInteger); // NOLINT
+GMOCK_DECLARE_KIND_(int, kInteger);
+GMOCK_DECLARE_KIND_(unsigned int, kInteger);
+GMOCK_DECLARE_KIND_(long, kInteger); // NOLINT
+GMOCK_DECLARE_KIND_(unsigned long, kInteger); // NOLINT
+
+#if GMOCK_WCHAR_T_IS_NATIVE_
+GMOCK_DECLARE_KIND_(wchar_t, kInteger);
+#endif
+
+// Non-standard integer types.
+GMOCK_DECLARE_KIND_(Int64, kInteger);
+GMOCK_DECLARE_KIND_(UInt64, kInteger);
+
+// All standard floating-point types.
+GMOCK_DECLARE_KIND_(float, kFloatingPoint);
+GMOCK_DECLARE_KIND_(double, kFloatingPoint);
+GMOCK_DECLARE_KIND_(long double, kFloatingPoint);
+
+#undef GMOCK_DECLARE_KIND_
+
+// Evaluates to the kind of 'type'.
+#define GMOCK_KIND_OF_(type) \
+ static_cast< ::testing::internal::TypeKind>( \
+ ::testing::internal::KindOf<type>::value)
+
+// Evaluates to true iff integer type T is signed.
+#define GMOCK_IS_SIGNED_(T) (static_cast<T>(-1) < 0)
+
+// LosslessArithmeticConvertibleImpl<kFromKind, From, kToKind, To>::value
+// is true iff arithmetic type From can be losslessly converted to
+// arithmetic type To.
+//
+// It's the user's responsibility to ensure that both From and To are
+// raw (i.e. has no CV modifier, is not a pointer, and is not a
+// reference) built-in arithmetic types, kFromKind is the kind of
+// From, and kToKind is the kind of To; the value is
+// implementation-defined when the above pre-condition is violated.
+template <TypeKind kFromKind, typename From, TypeKind kToKind, typename To>
+struct LosslessArithmeticConvertibleImpl : public false_type {};
+
+// Converting bool to bool is lossless.
+template <>
+struct LosslessArithmeticConvertibleImpl<kBool, bool, kBool, bool>
+ : public true_type {}; // NOLINT
+
+// Converting bool to any integer type is lossless.
+template <typename To>
+struct LosslessArithmeticConvertibleImpl<kBool, bool, kInteger, To>
+ : public true_type {}; // NOLINT
+
+// Converting bool to any floating-point type is lossless.
+template <typename To>
+struct LosslessArithmeticConvertibleImpl<kBool, bool, kFloatingPoint, To>
+ : public true_type {}; // NOLINT
+
+// Converting an integer to bool is lossy.
+template <typename From>
+struct LosslessArithmeticConvertibleImpl<kInteger, From, kBool, bool>
+ : public false_type {}; // NOLINT
+
+// Converting an integer to another non-bool integer is lossless iff
+// the target type's range encloses the source type's range.
+template <typename From, typename To>
+struct LosslessArithmeticConvertibleImpl<kInteger, From, kInteger, To>
+ : public bool_constant<
+ // When converting from a smaller size to a larger size, we are
+ // fine as long as we are not converting from signed to unsigned.
+ ((sizeof(From) < sizeof(To)) &&
+ (!GMOCK_IS_SIGNED_(From) || GMOCK_IS_SIGNED_(To))) ||
+ // When converting between the same size, the signedness must match.
+ ((sizeof(From) == sizeof(To)) &&
+ (GMOCK_IS_SIGNED_(From) == GMOCK_IS_SIGNED_(To)))> {}; // NOLINT
+
+#undef GMOCK_IS_SIGNED_
+
+// Converting an integer to a floating-point type may be lossy, since
+// the format of a floating-point number is implementation-defined.
+template <typename From, typename To>
+struct LosslessArithmeticConvertibleImpl<kInteger, From, kFloatingPoint, To>
+ : public false_type {}; // NOLINT
+
+// Converting a floating-point to bool is lossy.
+template <typename From>
+struct LosslessArithmeticConvertibleImpl<kFloatingPoint, From, kBool, bool>
+ : public false_type {}; // NOLINT
+
+// Converting a floating-point to an integer is lossy.
+template <typename From, typename To>
+struct LosslessArithmeticConvertibleImpl<kFloatingPoint, From, kInteger, To>
+ : public false_type {}; // NOLINT
+
+// Converting a floating-point to another floating-point is lossless
+// iff the target type is at least as big as the source type.
+template <typename From, typename To>
+struct LosslessArithmeticConvertibleImpl<
+ kFloatingPoint, From, kFloatingPoint, To>
+ : public bool_constant<sizeof(From) <= sizeof(To)> {}; // NOLINT
+
+// LosslessArithmeticConvertible<From, To>::value is true iff arithmetic
+// type From can be losslessly converted to arithmetic type To.
+//
+// It's the user's responsibility to ensure that both From and To are
+// raw (i.e. has no CV modifier, is not a pointer, and is not a
+// reference) built-in arithmetic types; the value is
+// implementation-defined when the above pre-condition is violated.
+template <typename From, typename To>
+struct LosslessArithmeticConvertible
+ : public LosslessArithmeticConvertibleImpl<
+ GMOCK_KIND_OF_(From), From, GMOCK_KIND_OF_(To), To> {}; // NOLINT
+
+// This interface knows how to report a Google Mock failure (either
+// non-fatal or fatal).
+class FailureReporterInterface {
+ public:
+ // The type of a failure (either non-fatal or fatal).
+ enum FailureType {
+ NONFATAL, FATAL
+ };
+
+ virtual ~FailureReporterInterface() {}
+
+ // Reports a failure that occurred at the given source file location.
+ virtual void ReportFailure(FailureType type, const char* file, int line,
+ const string& message) = 0;
+};
+
+// Returns the failure reporter used by Google Mock.
+FailureReporterInterface* GetFailureReporter();
+
+// Asserts that condition is true; aborts the process with the given
+// message if condition is false. We cannot use LOG(FATAL) or CHECK()
+// as Google Mock might be used to mock the log sink itself. We
+// inline this function to prevent it from showing up in the stack
+// trace.
+inline void Assert(bool condition, const char* file, int line,
+ const string& msg) {
+ if (!condition) {
+ GetFailureReporter()->ReportFailure(FailureReporterInterface::FATAL,
+ file, line, msg);
+ }
+}
+inline void Assert(bool condition, const char* file, int line) {
+ Assert(condition, file, line, "Assertion failed.");
+}
+
+// Verifies that condition is true; generates a non-fatal failure if
+// condition is false.
+inline void Expect(bool condition, const char* file, int line,
+ const string& msg) {
+ if (!condition) {
+ GetFailureReporter()->ReportFailure(FailureReporterInterface::NONFATAL,
+ file, line, msg);
+ }
+}
+inline void Expect(bool condition, const char* file, int line) {
+ Expect(condition, file, line, "Expectation failed.");
+}
+
+// Severity level of a log.
+enum LogSeverity {
+ INFO = 0,
+ WARNING = 1
+};
+
+// Valid values for the --gmock_verbose flag.
+
+// All logs (informational and warnings) are printed.
+const char kInfoVerbosity[] = "info";
+// Only warnings are printed.
+const char kWarningVerbosity[] = "warning";
+// No logs are printed.
+const char kErrorVerbosity[] = "error";
+
+// Returns true iff a log with the given severity is visible according
+// to the --gmock_verbose flag.
+bool LogIsVisible(LogSeverity severity);
+
+// Prints the given message to stdout iff 'severity' >= the level
+// specified by the --gmock_verbose flag. If stack_frames_to_skip >=
+// 0, also prints the stack trace excluding the top
+// stack_frames_to_skip frames. In opt mode, any positive
+// stack_frames_to_skip is treated as 0, since we don't know which
+// function calls will be inlined by the compiler and need to be
+// conservative.
+void Log(LogSeverity severity, const string& message, int stack_frames_to_skip);
+
+// TODO(wan@google.com): group all type utilities together.
+
+// Type traits.
+
+// is_reference<T>::value is non-zero iff T is a reference type.
+template <typename T> struct is_reference : public false_type {};
+template <typename T> struct is_reference<T&> : public true_type {};
+
+// type_equals<T1, T2>::value is non-zero iff T1 and T2 are the same type.
+template <typename T1, typename T2> struct type_equals : public false_type {};
+template <typename T> struct type_equals<T, T> : public true_type {};
+
+// remove_reference<T>::type removes the reference from type T, if any.
+template <typename T> struct remove_reference { typedef T type; }; // NOLINT
+template <typename T> struct remove_reference<T&> { typedef T type; }; // NOLINT
+
+// Invalid<T>() returns an invalid value of type T. This is useful
+// when a value of type T is needed for compilation, but the statement
+// will not really be executed (or we don't care if the statement
+// crashes).
+template <typename T>
+inline T Invalid() {
+ return *static_cast<typename remove_reference<T>::type*>(NULL);
+}
+template <>
+inline void Invalid<void>() {}
+
+// Given a raw type (i.e. having no top-level reference or const
+// modifier) RawContainer that's either an STL-style container or a
+// native array, class StlContainerView<RawContainer> has the
+// following members:
+//
+// - type is a type that provides an STL-style container view to
+// (i.e. implements the STL container concept for) RawContainer;
+// - const_reference is a type that provides a reference to a const
+// RawContainer;
+// - ConstReference(raw_container) returns a const reference to an STL-style
+// container view to raw_container, which is a RawContainer.
+// - Copy(raw_container) returns an STL-style container view of a
+// copy of raw_container, which is a RawContainer.
+//
+// This generic version is used when RawContainer itself is already an
+// STL-style container.
+template <class RawContainer>
+class StlContainerView {
+ public:
+ typedef RawContainer type;
+ typedef const type& const_reference;
+
+ static const_reference ConstReference(const RawContainer& container) {
+ // Ensures that RawContainer is not a const type.
+ testing::StaticAssertTypeEq<RawContainer,
+ GTEST_REMOVE_CONST_(RawContainer)>();
+ return container;
+ }
+ static type Copy(const RawContainer& container) { return container; }
+};
+
+// This specialization is used when RawContainer is a native array type.
+template <typename Element, size_t N>
+class StlContainerView<Element[N]> {
+ public:
+ typedef GTEST_REMOVE_CONST_(Element) RawElement;
+ typedef internal::NativeArray<RawElement> type;
+ // NativeArray<T> can represent a native array either by value or by
+ // reference (selected by a constructor argument), so 'const type'
+ // can be used to reference a const native array. We cannot
+ // 'typedef const type& const_reference' here, as that would mean
+ // ConstReference() has to return a reference to a local variable.
+ typedef const type const_reference;
+
+ static const_reference ConstReference(const Element (&array)[N]) {
+ // Ensures that Element is not a const type.
+ testing::StaticAssertTypeEq<Element, RawElement>();
+#if GTEST_OS_SYMBIAN
+ // The Nokia Symbian compiler confuses itself in template instantiation
+ // for this call without the cast to Element*:
+ // function call '[testing::internal::NativeArray<char *>].NativeArray(
+ // {lval} const char *[4], long, testing::internal::RelationToSource)'
+ // does not match
+ // 'testing::internal::NativeArray<char *>::NativeArray(
+ // char *const *, unsigned int, testing::internal::RelationToSource)'
+ // (instantiating: 'testing::internal::ContainsMatcherImpl
+ // <const char * (&)[4]>::Matches(const char * (&)[4]) const')
+ // (instantiating: 'testing::internal::StlContainerView<char *[4]>::
+ // ConstReference(const char * (&)[4])')
+ // (and though the N parameter type is mismatched in the above explicit
+ // conversion of it doesn't help - only the conversion of the array).
+ return type(const_cast<Element*>(&array[0]), N, kReference);
+#else
+ return type(array, N, kReference);
+#endif // GTEST_OS_SYMBIAN
+ }
+ static type Copy(const Element (&array)[N]) {
+#if GTEST_OS_SYMBIAN
+ return type(const_cast<Element*>(&array[0]), N, kCopy);
+#else
+ return type(array, N, kCopy);
+#endif // GTEST_OS_SYMBIAN
+ }
+};
+
+// This specialization is used when RawContainer is a native array
+// represented as a (pointer, size) tuple.
+template <typename ElementPointer, typename Size>
+class StlContainerView< ::std::tr1::tuple<ElementPointer, Size> > {
+ public:
+ typedef GTEST_REMOVE_CONST_(
+ typename internal::PointeeOf<ElementPointer>::type) RawElement;
+ typedef internal::NativeArray<RawElement> type;
+ typedef const type const_reference;
+
+ static const_reference ConstReference(
+ const ::std::tr1::tuple<ElementPointer, Size>& array) {
+ using ::std::tr1::get;
+ return type(get<0>(array), get<1>(array), kReference);
+ }
+ static type Copy(const ::std::tr1::tuple<ElementPointer, Size>& array) {
+ using ::std::tr1::get;
+ return type(get<0>(array), get<1>(array), kCopy);
+ }
+};
+
+// The following specialization prevents the user from instantiating
+// StlContainer with a reference type.
+template <typename T> class StlContainerView<T&>;
+
+} // namespace internal
+} // namespace testing
+
+#endif // GMOCK_INCLUDE_GMOCK_INTERNAL_GMOCK_INTERNAL_UTILS_H_
+
+namespace testing {
+
+// To implement an action Foo, define:
+// 1. a class FooAction that implements the ActionInterface interface, and
+// 2. a factory function that creates an Action object from a
+// const FooAction*.
+//
+// The two-level delegation design follows that of Matcher, providing
+// consistency for extension developers. It also eases ownership
+// management as Action objects can now be copied like plain values.
+
+namespace internal {
+
+template <typename F1, typename F2>
+class ActionAdaptor;
+
+// BuiltInDefaultValue<T>::Get() returns the "built-in" default
+// value for type T, which is NULL when T is a pointer type, 0 when T
+// is a numeric type, false when T is bool, or "" when T is string or
+// std::string. For any other type T, this value is undefined and the
+// function will abort the process.
+template <typename T>
+class BuiltInDefaultValue {
+ public:
+ // This function returns true iff type T has a built-in default value.
+ static bool Exists() { return false; }
+ static T Get() {
+ Assert(false, __FILE__, __LINE__,
+ "Default action undefined for the function return type.");
+ return internal::Invalid<T>();
+ // The above statement will never be reached, but is required in
+ // order for this function to compile.
+ }
+};
+
+// This partial specialization says that we use the same built-in
+// default value for T and const T.
+template <typename T>
+class BuiltInDefaultValue<const T> {
+ public:
+ static bool Exists() { return BuiltInDefaultValue<T>::Exists(); }
+ static T Get() { return BuiltInDefaultValue<T>::Get(); }
+};
+
+// This partial specialization defines the default values for pointer
+// types.
+template <typename T>
+class BuiltInDefaultValue<T*> {
+ public:
+ static bool Exists() { return true; }
+ static T* Get() { return NULL; }
+};
+
+// The following specializations define the default values for
+// specific types we care about.
+#define GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(type, value) \
+ template <> \
+ class BuiltInDefaultValue<type> { \
+ public: \
+ static bool Exists() { return true; } \
+ static type Get() { return value; } \
+ }
+
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(void, ); // NOLINT
+#if GTEST_HAS_GLOBAL_STRING
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(::string, "");
+#endif // GTEST_HAS_GLOBAL_STRING
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(::std::string, "");
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(bool, false);
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(unsigned char, '\0');
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(signed char, '\0');
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(char, '\0');
+
+// There's no need for a default action for signed wchar_t, as that
+// type is the same as wchar_t for gcc, and invalid for MSVC.
+//
+// There's also no need for a default action for unsigned wchar_t, as
+// that type is the same as unsigned int for gcc, and invalid for
+// MSVC.
+#if GMOCK_WCHAR_T_IS_NATIVE_
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(wchar_t, 0U); // NOLINT
+#endif
+
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(unsigned short, 0U); // NOLINT
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(signed short, 0); // NOLINT
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(unsigned int, 0U);
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(signed int, 0);
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(unsigned long, 0UL); // NOLINT
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(signed long, 0L); // NOLINT
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(UInt64, 0);
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(Int64, 0);
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(float, 0);
+GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_(double, 0);
+
+#undef GMOCK_DEFINE_DEFAULT_ACTION_FOR_RETURN_TYPE_
+
+} // namespace internal
+
+// When an unexpected function call is encountered, Google Mock will
+// let it return a default value if the user has specified one for its
+// return type, or if the return type has a built-in default value;
+// otherwise Google Mock won't know what value to return and will have
+// to abort the process.
+//
+// The DefaultValue<T> class allows a user to specify the
+// default value for a type T that is both copyable and publicly
+// destructible (i.e. anything that can be used as a function return
+// type). The usage is:
+//
+// // Sets the default value for type T to be foo.
+// DefaultValue<T>::Set(foo);
+template <typename T>
+class DefaultValue {
+ public:
+ // Sets the default value for type T; requires T to be
+ // copy-constructable and have a public destructor.
+ static void Set(T x) {
+ delete value_;
+ value_ = new T(x);
+ }
+
+ // Unsets the default value for type T.
+ static void Clear() {
+ delete value_;
+ value_ = NULL;
+ }
+
+ // Returns true iff the user has set the default value for type T.
+ static bool IsSet() { return value_ != NULL; }
+
+ // Returns true if T has a default return value set by the user or there
+ // exists a built-in default value.
+ static bool Exists() {
+ return IsSet() || internal::BuiltInDefaultValue<T>::Exists();
+ }
+
+ // Returns the default value for type T if the user has set one;
+ // otherwise returns the built-in default value if there is one;
+ // otherwise aborts the process.
+ static T Get() {
+ return value_ == NULL ?
+ internal::BuiltInDefaultValue<T>::Get() : *value_;
+ }
+ private:
+ static const T* value_;
+};
+
+// This partial specialization allows a user to set default values for
+// reference types.
+template <typename T>
+class DefaultValue<T&> {
+ public:
+ // Sets the default value for type T&.
+ static void Set(T& x) { // NOLINT
+ address_ = &x;
+ }
+
+ // Unsets the default value for type T&.
+ static void Clear() {
+ address_ = NULL;
+ }
+
+ // Returns true iff the user has set the default value for type T&.
+ static bool IsSet() { return address_ != NULL; }
+
+ // Returns true if T has a default return value set by the user or there
+ // exists a built-in default value.
+ static bool Exists() {
+ return IsSet() || internal::BuiltInDefaultValue<T&>::Exists();
+ }
+
+ // Returns the default value for type T& if the user has set one;
+ // otherwise returns the built-in default value if there is one;
+ // otherwise aborts the process.
+ static T& Get() {
+ return address_ == NULL ?
+ internal::BuiltInDefaultValue<T&>::Get() : *address_;
+ }
+ private:
+ static T* address_;
+};
+
+// This specialization allows DefaultValue<void>::Get() to
+// compile.
+template <>
+class DefaultValue<void> {
+ public:
+ static bool Exists() { return true; }
+ static void Get() {}
+};
+
+// Points to the user-set default value for type T.
+template <typename T>
+const T* DefaultValue<T>::value_ = NULL;
+
+// Points to the user-set default value for type T&.
+template <typename T>
+T* DefaultValue<T&>::address_ = NULL;
+
+// Implement this interface to define an action for function type F.
+template <typename F>
+class ActionInterface {
+ public:
+ typedef typename internal::Function<F>::Result Result;
+ typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+ ActionInterface() {}
+ virtual ~ActionInterface() {}
+
+ // Performs the action. This method is not const, as in general an
+ // action can have side effects and be stateful. For example, a
+ // get-the-next-element-from-the-collection action will need to
+ // remember the current element.
+ virtual Result Perform(const ArgumentTuple& args) = 0;
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(ActionInterface);
+};
+
+// An Action<F> is a copyable and IMMUTABLE (except by assignment)
+// object that represents an action to be taken when a mock function
+// of type F is called. The implementation of Action<T> is just a
+// linked_ptr to const ActionInterface<T>, so copying is fairly cheap.
+// Don't inherit from Action!
+//
+// You can view an object implementing ActionInterface<F> as a
+// concrete action (including its current state), and an Action<F>
+// object as a handle to it.
+template <typename F>
+class Action {
+ public:
+ typedef typename internal::Function<F>::Result Result;
+ typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+ // Constructs a null Action. Needed for storing Action objects in
+ // STL containers.
+ Action() : impl_(NULL) {}
+
+ // Constructs an Action from its implementation. A NULL impl is
+ // used to represent the "do-default" action.
+ explicit Action(ActionInterface<F>* impl) : impl_(impl) {}
+
+ // Copy constructor.
+ Action(const Action& action) : impl_(action.impl_) {}
+
+ // This constructor allows us to turn an Action<Func> object into an
+ // Action<F>, as long as F's arguments can be implicitly converted
+ // to Func's and Func's return type can be implicitly converted to
+ // F's.
+ template <typename Func>
+ explicit Action(const Action<Func>& action);
+
+ // Returns true iff this is the DoDefault() action.
+ bool IsDoDefault() const { return impl_.get() == NULL; }
+
+ // Performs the action. Note that this method is const even though
+ // the corresponding method in ActionInterface is not. The reason
+ // is that a const Action<F> means that it cannot be re-bound to
+ // another concrete action, not that the concrete action it binds to
+ // cannot change state. (Think of the difference between a const
+ // pointer and a pointer to const.)
+ Result Perform(const ArgumentTuple& args) const {
+ internal::Assert(
+ !IsDoDefault(), __FILE__, __LINE__,
+ "You are using DoDefault() inside a composite action like "
+ "DoAll() or WithArgs(). This is not supported for technical "
+ "reasons. Please instead spell out the default action, or "
+ "assign the default action to an Action variable and use "
+ "the variable in various places.");
+ return impl_->Perform(args);
+ }
+
+ private:
+ template <typename F1, typename F2>
+ friend class internal::ActionAdaptor;
+
+ internal::linked_ptr<ActionInterface<F> > impl_;
+};
+
+// The PolymorphicAction class template makes it easy to implement a
+// polymorphic action (i.e. an action that can be used in mock
+// functions of than one type, e.g. Return()).
+//
+// To define a polymorphic action, a user first provides a COPYABLE
+// implementation class that has a Perform() method template:
+//
+// class FooAction {
+// public:
+// template <typename Result, typename ArgumentTuple>
+// Result Perform(const ArgumentTuple& args) const {
+// // Processes the arguments and returns a result, using
+// // tr1::get<N>(args) to get the N-th (0-based) argument in the tuple.
+// }
+// ...
+// };
+//
+// Then the user creates the polymorphic action using
+// MakePolymorphicAction(object) where object has type FooAction. See
+// the definition of Return(void) and SetArgumentPointee<N>(value) for
+// complete examples.
+template <typename Impl>
+class PolymorphicAction {
+ public:
+ explicit PolymorphicAction(const Impl& impl) : impl_(impl) {}
+
+ template <typename F>
+ operator Action<F>() const {
+ return Action<F>(new MonomorphicImpl<F>(impl_));
+ }
+
+ private:
+ template <typename F>
+ class MonomorphicImpl : public ActionInterface<F> {
+ public:
+ typedef typename internal::Function<F>::Result Result;
+ typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+ explicit MonomorphicImpl(const Impl& impl) : impl_(impl) {}
+
+ virtual Result Perform(const ArgumentTuple& args) {
+ return impl_.template Perform<Result>(args);
+ }
+
+ private:
+ Impl impl_;
+
+ GTEST_DISALLOW_ASSIGN_(MonomorphicImpl);
+ };
+
+ Impl impl_;
+
+ GTEST_DISALLOW_ASSIGN_(PolymorphicAction);
+};
+
+// Creates an Action from its implementation and returns it. The
+// created Action object owns the implementation.
+template <typename F>
+Action<F> MakeAction(ActionInterface<F>* impl) {
+ return Action<F>(impl);
+}
+
+// Creates a polymorphic action from its implementation. This is
+// easier to use than the PolymorphicAction<Impl> constructor as it
+// doesn't require you to explicitly write the template argument, e.g.
+//
+// MakePolymorphicAction(foo);
+// vs
+// PolymorphicAction<TypeOfFoo>(foo);
+template <typename Impl>
+inline PolymorphicAction<Impl> MakePolymorphicAction(const Impl& impl) {
+ return PolymorphicAction<Impl>(impl);
+}
+
+namespace internal {
+
+// Allows an Action<F2> object to pose as an Action<F1>, as long as F2
+// and F1 are compatible.
+template <typename F1, typename F2>
+class ActionAdaptor : public ActionInterface<F1> {
+ public:
+ typedef typename internal::Function<F1>::Result Result;
+ typedef typename internal::Function<F1>::ArgumentTuple ArgumentTuple;
+
+ explicit ActionAdaptor(const Action<F2>& from) : impl_(from.impl_) {}
+
+ virtual Result Perform(const ArgumentTuple& args) {
+ return impl_->Perform(args);
+ }
+
+ private:
+ const internal::linked_ptr<ActionInterface<F2> > impl_;
+
+ GTEST_DISALLOW_ASSIGN_(ActionAdaptor);
+};
+
+// Implements the polymorphic Return(x) action, which can be used in
+// any function that returns the type of x, regardless of the argument
+// types.
+//
+// Note: The value passed into Return must be converted into
+// Function<F>::Result when this action is cast to Action<F> rather than
+// when that action is performed. This is important in scenarios like
+//
+// MOCK_METHOD1(Method, T(U));
+// ...
+// {
+// Foo foo;
+// X x(&foo);
+// EXPECT_CALL(mock, Method(_)).WillOnce(Return(x));
+// }
+//
+// In the example above the variable x holds reference to foo which leaves
+// scope and gets destroyed. If copying X just copies a reference to foo,
+// that copy will be left with a hanging reference. If conversion to T
+// makes a copy of foo, the above code is safe. To support that scenario, we
+// need to make sure that the type conversion happens inside the EXPECT_CALL
+// statement, and conversion of the result of Return to Action<T(U)> is a
+// good place for that.
+//
+template <typename R>
+class ReturnAction {
+ public:
+ // Constructs a ReturnAction object from the value to be returned.
+ // 'value' is passed by value instead of by const reference in order
+ // to allow Return("string literal") to compile.
+ explicit ReturnAction(R value) : value_(value) {}
+
+ // This template type conversion operator allows Return(x) to be
+ // used in ANY function that returns x's type.
+ template <typename F>
+ operator Action<F>() const {
+ // Assert statement belongs here because this is the best place to verify
+ // conditions on F. It produces the clearest error messages
+ // in most compilers.
+ // Impl really belongs in this scope as a local class but can't
+ // because MSVC produces duplicate symbols in different translation units
+ // in this case. Until MS fixes that bug we put Impl into the class scope
+ // and put the typedef both here (for use in assert statement) and
+ // in the Impl class. But both definitions must be the same.
+ typedef typename Function<F>::Result Result;
+ GTEST_COMPILE_ASSERT_(
+ !internal::is_reference<Result>::value,
+ use_ReturnRef_instead_of_Return_to_return_a_reference);
+ return Action<F>(new Impl<F>(value_));
+ }
+
+ private:
+ // Implements the Return(x) action for a particular function type F.
+ template <typename F>
+ class Impl : public ActionInterface<F> {
+ public:
+ typedef typename Function<F>::Result Result;
+ typedef typename Function<F>::ArgumentTuple ArgumentTuple;
+
+ // The implicit cast is necessary when Result has more than one
+ // single-argument constructor (e.g. Result is std::vector<int>) and R
+ // has a type conversion operator template. In that case, value_(value)
+ // won't compile as the compiler doesn't known which constructor of
+ // Result to call. ImplicitCast_ forces the compiler to convert R to
+ // Result without considering explicit constructors, thus resolving the
+ // ambiguity. value_ is then initialized using its copy constructor.
+ explicit Impl(R value)
+ : value_(::testing::internal::ImplicitCast_<Result>(value)) {}
+
+ virtual Result Perform(const ArgumentTuple&) { return value_; }
+
+ private:
+ GTEST_COMPILE_ASSERT_(!internal::is_reference<Result>::value,
+ Result_cannot_be_a_reference_type);
+ Result value_;
+
+ GTEST_DISALLOW_ASSIGN_(Impl);
+ };
+
+ R value_;
+
+ GTEST_DISALLOW_ASSIGN_(ReturnAction);
+};
+
+// Implements the ReturnNull() action.
+class ReturnNullAction {
+ public:
+ // Allows ReturnNull() to be used in any pointer-returning function.
+ template <typename Result, typename ArgumentTuple>
+ static Result Perform(const ArgumentTuple&) {
+ GTEST_COMPILE_ASSERT_(internal::is_pointer<Result>::value,
+ ReturnNull_can_be_used_to_return_a_pointer_only);
+ return NULL;
+ }
+};
+
+// Implements the Return() action.
+class ReturnVoidAction {
+ public:
+ // Allows Return() to be used in any void-returning function.
+ template <typename Result, typename ArgumentTuple>
+ static void Perform(const ArgumentTuple&) {
+ CompileAssertTypesEqual<void, Result>();
+ }
+};
+
+// Implements the polymorphic ReturnRef(x) action, which can be used
+// in any function that returns a reference to the type of x,
+// regardless of the argument types.
+template <typename T>
+class ReturnRefAction {
+ public:
+ // Constructs a ReturnRefAction object from the reference to be returned.
+ explicit ReturnRefAction(T& ref) : ref_(ref) {} // NOLINT
+
+ // This template type conversion operator allows ReturnRef(x) to be
+ // used in ANY function that returns a reference to x's type.
+ template <typename F>
+ operator Action<F>() const {
+ typedef typename Function<F>::Result Result;
+ // Asserts that the function return type is a reference. This
+ // catches the user error of using ReturnRef(x) when Return(x)
+ // should be used, and generates some helpful error message.
+ GTEST_COMPILE_ASSERT_(internal::is_reference<Result>::value,
+ use_Return_instead_of_ReturnRef_to_return_a_value);
+ return Action<F>(new Impl<F>(ref_));
+ }
+
+ private:
+ // Implements the ReturnRef(x) action for a particular function type F.
+ template <typename F>
+ class Impl : public ActionInterface<F> {
+ public:
+ typedef typename Function<F>::Result Result;
+ typedef typename Function<F>::ArgumentTuple ArgumentTuple;
+
+ explicit Impl(T& ref) : ref_(ref) {} // NOLINT
+
+ virtual Result Perform(const ArgumentTuple&) {
+ return ref_;
+ }
+
+ private:
+ T& ref_;
+
+ GTEST_DISALLOW_ASSIGN_(Impl);
+ };
+
+ T& ref_;
+
+ GTEST_DISALLOW_ASSIGN_(ReturnRefAction);
+};
+
+// Implements the polymorphic ReturnRefOfCopy(x) action, which can be
+// used in any function that returns a reference to the type of x,
+// regardless of the argument types.
+template <typename T>
+class ReturnRefOfCopyAction {
+ public:
+ // Constructs a ReturnRefOfCopyAction object from the reference to
+ // be returned.
+ explicit ReturnRefOfCopyAction(const T& value) : value_(value) {} // NOLINT
+
+ // This template type conversion operator allows ReturnRefOfCopy(x) to be
+ // used in ANY function that returns a reference to x's type.
+ template <typename F>
+ operator Action<F>() const {
+ typedef typename Function<F>::Result Result;
+ // Asserts that the function return type is a reference. This
+ // catches the user error of using ReturnRefOfCopy(x) when Return(x)
+ // should be used, and generates some helpful error message.
+ GTEST_COMPILE_ASSERT_(
+ internal::is_reference<Result>::value,
+ use_Return_instead_of_ReturnRefOfCopy_to_return_a_value);
+ return Action<F>(new Impl<F>(value_));
+ }
+
+ private:
+ // Implements the ReturnRefOfCopy(x) action for a particular function type F.
+ template <typename F>
+ class Impl : public ActionInterface<F> {
+ public:
+ typedef typename Function<F>::Result Result;
+ typedef typename Function<F>::ArgumentTuple ArgumentTuple;
+
+ explicit Impl(const T& value) : value_(value) {} // NOLINT
+
+ virtual Result Perform(const ArgumentTuple&) {
+ return value_;
+ }
+
+ private:
+ T value_;
+
+ GTEST_DISALLOW_ASSIGN_(Impl);
+ };
+
+ const T value_;
+
+ GTEST_DISALLOW_ASSIGN_(ReturnRefOfCopyAction);
+};
+
+// Implements the polymorphic DoDefault() action.
+class DoDefaultAction {
+ public:
+ // This template type conversion operator allows DoDefault() to be
+ // used in any function.
+ template <typename F>
+ operator Action<F>() const { return Action<F>(NULL); }
+};
+
+// Implements the Assign action to set a given pointer referent to a
+// particular value.
+template <typename T1, typename T2>
+class AssignAction {
+ public:
+ AssignAction(T1* ptr, T2 value) : ptr_(ptr), value_(value) {}
+
+ template <typename Result, typename ArgumentTuple>
+ void Perform(const ArgumentTuple& /* args */) const {
+ *ptr_ = value_;
+ }
+
+ private:
+ T1* const ptr_;
+ const T2 value_;
+
+ GTEST_DISALLOW_ASSIGN_(AssignAction);
+};
+
+#if !GTEST_OS_WINDOWS_MOBILE
+
+// Implements the SetErrnoAndReturn action to simulate return from
+// various system calls and libc functions.
+template <typename T>
+class SetErrnoAndReturnAction {
+ public:
+ SetErrnoAndReturnAction(int errno_value, T result)
+ : errno_(errno_value),
+ result_(result) {}
+ template <typename Result, typename ArgumentTuple>
+ Result Perform(const ArgumentTuple& /* args */) const {
+ errno = errno_;
+ return result_;
+ }
+
+ private:
+ const int errno_;
+ const T result_;
+
+ GTEST_DISALLOW_ASSIGN_(SetErrnoAndReturnAction);
+};
+
+#endif // !GTEST_OS_WINDOWS_MOBILE
+
+// Implements the SetArgumentPointee<N>(x) action for any function
+// whose N-th argument (0-based) is a pointer to x's type. The
+// template parameter kIsProto is true iff type A is ProtocolMessage,
+// proto2::Message, or a sub-class of those.
+template <size_t N, typename A, bool kIsProto>
+class SetArgumentPointeeAction {
+ public:
+ // Constructs an action that sets the variable pointed to by the
+ // N-th function argument to 'value'.
+ explicit SetArgumentPointeeAction(const A& value) : value_(value) {}
+
+ template <typename Result, typename ArgumentTuple>
+ void Perform(const ArgumentTuple& args) const {
+ CompileAssertTypesEqual<void, Result>();
+ *::std::tr1::get<N>(args) = value_;
+ }
+
+ private:
+ const A value_;
+
+ GTEST_DISALLOW_ASSIGN_(SetArgumentPointeeAction);
+};
+
+template <size_t N, typename Proto>
+class SetArgumentPointeeAction<N, Proto, true> {
+ public:
+ // Constructs an action that sets the variable pointed to by the
+ // N-th function argument to 'proto'. Both ProtocolMessage and
+ // proto2::Message have the CopyFrom() method, so the same
+ // implementation works for both.
+ explicit SetArgumentPointeeAction(const Proto& proto) : proto_(new Proto) {
+ proto_->CopyFrom(proto);
+ }
+
+ template <typename Result, typename ArgumentTuple>
+ void Perform(const ArgumentTuple& args) const {
+ CompileAssertTypesEqual<void, Result>();
+ ::std::tr1::get<N>(args)->CopyFrom(*proto_);
+ }
+
+ private:
+ const internal::linked_ptr<Proto> proto_;
+
+ GTEST_DISALLOW_ASSIGN_(SetArgumentPointeeAction);
+};
+
+// Implements the InvokeWithoutArgs(f) action. The template argument
+// FunctionImpl is the implementation type of f, which can be either a
+// function pointer or a functor. InvokeWithoutArgs(f) can be used as an
+// Action<F> as long as f's type is compatible with F (i.e. f can be
+// assigned to a tr1::function<F>).
+template <typename FunctionImpl>
+class InvokeWithoutArgsAction {
+ public:
+ // The c'tor makes a copy of function_impl (either a function
+ // pointer or a functor).
+ explicit InvokeWithoutArgsAction(FunctionImpl function_impl)
+ : function_impl_(function_impl) {}
+
+ // Allows InvokeWithoutArgs(f) to be used as any action whose type is
+ // compatible with f.
+ template <typename Result, typename ArgumentTuple>
+ Result Perform(const ArgumentTuple&) { return function_impl_(); }
+
+ private:
+ FunctionImpl function_impl_;
+
+ GTEST_DISALLOW_ASSIGN_(InvokeWithoutArgsAction);
+};
+
+// Implements the InvokeWithoutArgs(object_ptr, &Class::Method) action.
+template <class Class, typename MethodPtr>
+class InvokeMethodWithoutArgsAction {
+ public:
+ InvokeMethodWithoutArgsAction(Class* obj_ptr, MethodPtr method_ptr)
+ : obj_ptr_(obj_ptr), method_ptr_(method_ptr) {}
+
+ template <typename Result, typename ArgumentTuple>
+ Result Perform(const ArgumentTuple&) const {
+ return (obj_ptr_->*method_ptr_)();
+ }
+
+ private:
+ Class* const obj_ptr_;
+ const MethodPtr method_ptr_;
+
+ GTEST_DISALLOW_ASSIGN_(InvokeMethodWithoutArgsAction);
+};
+
+// Implements the IgnoreResult(action) action.
+template <typename A>
+class IgnoreResultAction {
+ public:
+ explicit IgnoreResultAction(const A& action) : action_(action) {}
+
+ template <typename F>
+ operator Action<F>() const {
+ // Assert statement belongs here because this is the best place to verify
+ // conditions on F. It produces the clearest error messages
+ // in most compilers.
+ // Impl really belongs in this scope as a local class but can't
+ // because MSVC produces duplicate symbols in different translation units
+ // in this case. Until MS fixes that bug we put Impl into the class scope
+ // and put the typedef both here (for use in assert statement) and
+ // in the Impl class. But both definitions must be the same.
+ typedef typename internal::Function<F>::Result Result;
+
+ // Asserts at compile time that F returns void.
+ CompileAssertTypesEqual<void, Result>();
+
+ return Action<F>(new Impl<F>(action_));
+ }
+
+ private:
+ template <typename F>
+ class Impl : public ActionInterface<F> {
+ public:
+ typedef typename internal::Function<F>::Result Result;
+ typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+ explicit Impl(const A& action) : action_(action) {}
+
+ virtual void Perform(const ArgumentTuple& args) {
+ // Performs the action and ignores its result.
+ action_.Perform(args);
+ }
+
+ private:
+ // Type OriginalFunction is the same as F except that its return
+ // type is IgnoredValue.
+ typedef typename internal::Function<F>::MakeResultIgnoredValue
+ OriginalFunction;
+
+ const Action<OriginalFunction> action_;
+
+ GTEST_DISALLOW_ASSIGN_(Impl);
+ };
+
+ const A action_;
+
+ GTEST_DISALLOW_ASSIGN_(IgnoreResultAction);
+};
+
+// A ReferenceWrapper<T> object represents a reference to type T,
+// which can be either const or not. It can be explicitly converted
+// from, and implicitly converted to, a T&. Unlike a reference,
+// ReferenceWrapper<T> can be copied and can survive template type
+// inference. This is used to support by-reference arguments in the
+// InvokeArgument<N>(...) action. The idea was from "reference
+// wrappers" in tr1, which we don't have in our source tree yet.
+template <typename T>
+class ReferenceWrapper {
+ public:
+ // Constructs a ReferenceWrapper<T> object from a T&.
+ explicit ReferenceWrapper(T& l_value) : pointer_(&l_value) {} // NOLINT
+
+ // Allows a ReferenceWrapper<T> object to be implicitly converted to
+ // a T&.
+ operator T&() const { return *pointer_; }
+ private:
+ T* pointer_;
+};
+
+// Allows the expression ByRef(x) to be printed as a reference to x.
+template <typename T>
+void PrintTo(const ReferenceWrapper<T>& ref, ::std::ostream* os) {
+ T& value = ref;
+ UniversalPrinter<T&>::Print(value, os);
+}
+
+// Does two actions sequentially. Used for implementing the DoAll(a1,
+// a2, ...) action.
+template <typename Action1, typename Action2>
+class DoBothAction {
+ public:
+ DoBothAction(Action1 action1, Action2 action2)
+ : action1_(action1), action2_(action2) {}
+
+ // This template type conversion operator allows DoAll(a1, ..., a_n)
+ // to be used in ANY function of compatible type.
+ template <typename F>
+ operator Action<F>() const {
+ return Action<F>(new Impl<F>(action1_, action2_));
+ }
+
+ private:
+ // Implements the DoAll(...) action for a particular function type F.
+ template <typename F>
+ class Impl : public ActionInterface<F> {
+ public:
+ typedef typename Function<F>::Result Result;
+ typedef typename Function<F>::ArgumentTuple ArgumentTuple;
+ typedef typename Function<F>::MakeResultVoid VoidResult;
+
+ Impl(const Action<VoidResult>& action1, const Action<F>& action2)
+ : action1_(action1), action2_(action2) {}
+
+ virtual Result Perform(const ArgumentTuple& args) {
+ action1_.Perform(args);
+ return action2_.Perform(args);
+ }
+
+ private:
+ const Action<VoidResult> action1_;
+ const Action<F> action2_;
+
+ GTEST_DISALLOW_ASSIGN_(Impl);
+ };
+
+ Action1 action1_;
+ Action2 action2_;
+
+ GTEST_DISALLOW_ASSIGN_(DoBothAction);
+};
+
+} // namespace internal
+
+// An Unused object can be implicitly constructed from ANY value.
+// This is handy when defining actions that ignore some or all of the
+// mock function arguments. For example, given
+//
+// MOCK_METHOD3(Foo, double(const string& label, double x, double y));
+// MOCK_METHOD3(Bar, double(int index, double x, double y));
+//
+// instead of
+//
+// double DistanceToOriginWithLabel(const string& label, double x, double y) {
+// return sqrt(x*x + y*y);
+// }
+// double DistanceToOriginWithIndex(int index, double x, double y) {
+// return sqrt(x*x + y*y);
+// }
+// ...
+// EXEPCT_CALL(mock, Foo("abc", _, _))
+// .WillOnce(Invoke(DistanceToOriginWithLabel));
+// EXEPCT_CALL(mock, Bar(5, _, _))
+// .WillOnce(Invoke(DistanceToOriginWithIndex));
+//
+// you could write
+//
+// // We can declare any uninteresting argument as Unused.
+// double DistanceToOrigin(Unused, double x, double y) {
+// return sqrt(x*x + y*y);
+// }
+// ...
+// EXEPCT_CALL(mock, Foo("abc", _, _)).WillOnce(Invoke(DistanceToOrigin));
+// EXEPCT_CALL(mock, Bar(5, _, _)).WillOnce(Invoke(DistanceToOrigin));
+typedef internal::IgnoredValue Unused;
+
+// This constructor allows us to turn an Action<From> object into an
+// Action<To>, as long as To's arguments can be implicitly converted
+// to From's and From's return type cann be implicitly converted to
+// To's.
+template <typename To>
+template <typename From>
+Action<To>::Action(const Action<From>& from)
+ : impl_(new internal::ActionAdaptor<To, From>(from)) {}
+
+// Creates an action that returns 'value'. 'value' is passed by value
+// instead of const reference - otherwise Return("string literal")
+// will trigger a compiler error about using array as initializer.
+template <typename R>
+internal::ReturnAction<R> Return(R value) {
+ return internal::ReturnAction<R>(value);
+}
+
+// Creates an action that returns NULL.
+inline PolymorphicAction<internal::ReturnNullAction> ReturnNull() {
+ return MakePolymorphicAction(internal::ReturnNullAction());
+}
+
+// Creates an action that returns from a void function.
+inline PolymorphicAction<internal::ReturnVoidAction> Return() {
+ return MakePolymorphicAction(internal::ReturnVoidAction());
+}
+
+// Creates an action that returns the reference to a variable.
+template <typename R>
+inline internal::ReturnRefAction<R> ReturnRef(R& x) { // NOLINT
+ return internal::ReturnRefAction<R>(x);
+}
+
+// Creates an action that returns the reference to a copy of the
+// argument. The copy is created when the action is constructed and
+// lives as long as the action.
+template <typename R>
+inline internal::ReturnRefOfCopyAction<R> ReturnRefOfCopy(const R& x) {
+ return internal::ReturnRefOfCopyAction<R>(x);
+}
+
+// Creates an action that does the default action for the give mock function.
+inline internal::DoDefaultAction DoDefault() {
+ return internal::DoDefaultAction();
+}
+
+// Creates an action that sets the variable pointed by the N-th
+// (0-based) function argument to 'value'.
+template <size_t N, typename T>
+PolymorphicAction<
+ internal::SetArgumentPointeeAction<
+ N, T, internal::IsAProtocolMessage<T>::value> >
+SetArgPointee(const T& x) {
+ return MakePolymorphicAction(internal::SetArgumentPointeeAction<
+ N, T, internal::IsAProtocolMessage<T>::value>(x));
+}
+
+#if !((GTEST_GCC_VER_ && GTEST_GCC_VER_ < 40000) || GTEST_OS_SYMBIAN)
+// This overload allows SetArgPointee() to accept a string literal.
+// GCC prior to the version 4.0 and Symbian C++ compiler cannot distinguish
+// this overload from the templated version and emit a compile error.
+template <size_t N>
+PolymorphicAction<
+ internal::SetArgumentPointeeAction<N, const char*, false> >
+SetArgPointee(const char* p) {
+ return MakePolymorphicAction(internal::SetArgumentPointeeAction<
+ N, const char*, false>(p));
+}
+
+template <size_t N>
+PolymorphicAction<
+ internal::SetArgumentPointeeAction<N, const wchar_t*, false> >
+SetArgPointee(const wchar_t* p) {
+ return MakePolymorphicAction(internal::SetArgumentPointeeAction<
+ N, const wchar_t*, false>(p));
+}
+#endif
+
+// The following version is DEPRECATED.
+template <size_t N, typename T>
+PolymorphicAction<
+ internal::SetArgumentPointeeAction<
+ N, T, internal::IsAProtocolMessage<T>::value> >
+SetArgumentPointee(const T& x) {
+ return MakePolymorphicAction(internal::SetArgumentPointeeAction<
+ N, T, internal::IsAProtocolMessage<T>::value>(x));
+}
+
+// Creates an action that sets a pointer referent to a given value.
+template <typename T1, typename T2>
+PolymorphicAction<internal::AssignAction<T1, T2> > Assign(T1* ptr, T2 val) {
+ return MakePolymorphicAction(internal::AssignAction<T1, T2>(ptr, val));
+}
+
+#if !GTEST_OS_WINDOWS_MOBILE
+
+// Creates an action that sets errno and returns the appropriate error.
+template <typename T>
+PolymorphicAction<internal::SetErrnoAndReturnAction<T> >
+SetErrnoAndReturn(int errval, T result) {
+ return MakePolymorphicAction(
+ internal::SetErrnoAndReturnAction<T>(errval, result));
+}
+
+#endif // !GTEST_OS_WINDOWS_MOBILE
+
+// Various overloads for InvokeWithoutArgs().
+
+// Creates an action that invokes 'function_impl' with no argument.
+template <typename FunctionImpl>
+PolymorphicAction<internal::InvokeWithoutArgsAction<FunctionImpl> >
+InvokeWithoutArgs(FunctionImpl function_impl) {
+ return MakePolymorphicAction(
+ internal::InvokeWithoutArgsAction<FunctionImpl>(function_impl));
+}
+
+// Creates an action that invokes the given method on the given object
+// with no argument.
+template <class Class, typename MethodPtr>
+PolymorphicAction<internal::InvokeMethodWithoutArgsAction<Class, MethodPtr> >
+InvokeWithoutArgs(Class* obj_ptr, MethodPtr method_ptr) {
+ return MakePolymorphicAction(
+ internal::InvokeMethodWithoutArgsAction<Class, MethodPtr>(
+ obj_ptr, method_ptr));
+}
+
+// Creates an action that performs an_action and throws away its
+// result. In other words, it changes the return type of an_action to
+// void. an_action MUST NOT return void, or the code won't compile.
+template <typename A>
+inline internal::IgnoreResultAction<A> IgnoreResult(const A& an_action) {
+ return internal::IgnoreResultAction<A>(an_action);
+}
+
+// Creates a reference wrapper for the given L-value. If necessary,
+// you can explicitly specify the type of the reference. For example,
+// suppose 'derived' is an object of type Derived, ByRef(derived)
+// would wrap a Derived&. If you want to wrap a const Base& instead,
+// where Base is a base class of Derived, just write:
+//
+// ByRef<const Base>(derived)
+template <typename T>
+inline internal::ReferenceWrapper<T> ByRef(T& l_value) { // NOLINT
+ return internal::ReferenceWrapper<T>(l_value);
+}
+
+} // namespace testing
+
+#endif // GMOCK_INCLUDE_GMOCK_GMOCK_ACTIONS_H_
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements some commonly used cardinalities. More
+// cardinalities can be defined by the user implementing the
+// CardinalityInterface interface if necessary.
+
+#ifndef GMOCK_INCLUDE_GMOCK_GMOCK_CARDINALITIES_H_
+#define GMOCK_INCLUDE_GMOCK_GMOCK_CARDINALITIES_H_
+
+#include <limits.h>
+#include <ostream> // NOLINT
+
+namespace testing {
+
+// To implement a cardinality Foo, define:
+// 1. a class FooCardinality that implements the
+// CardinalityInterface interface, and
+// 2. a factory function that creates a Cardinality object from a
+// const FooCardinality*.
+//
+// The two-level delegation design follows that of Matcher, providing
+// consistency for extension developers. It also eases ownership
+// management as Cardinality objects can now be copied like plain values.
+
+// The implementation of a cardinality.
+class CardinalityInterface {
+ public:
+ virtual ~CardinalityInterface() {}
+
+ // Conservative estimate on the lower/upper bound of the number of
+ // calls allowed.
+ virtual int ConservativeLowerBound() const { return 0; }
+ virtual int ConservativeUpperBound() const { return INT_MAX; }
+
+ // Returns true iff call_count calls will satisfy this cardinality.
+ virtual bool IsSatisfiedByCallCount(int call_count) const = 0;
+
+ // Returns true iff call_count calls will saturate this cardinality.
+ virtual bool IsSaturatedByCallCount(int call_count) const = 0;
+
+ // Describes self to an ostream.
+ virtual void DescribeTo(::std::ostream* os) const = 0;
+};
+
+// A Cardinality is a copyable and IMMUTABLE (except by assignment)
+// object that specifies how many times a mock function is expected to
+// be called. The implementation of Cardinality is just a linked_ptr
+// to const CardinalityInterface, so copying is fairly cheap.
+// Don't inherit from Cardinality!
+class Cardinality {
+ public:
+ // Constructs a null cardinality. Needed for storing Cardinality
+ // objects in STL containers.
+ Cardinality() {}
+
+ // Constructs a Cardinality from its implementation.
+ explicit Cardinality(const CardinalityInterface* impl) : impl_(impl) {}
+
+ // Conservative estimate on the lower/upper bound of the number of
+ // calls allowed.
+ int ConservativeLowerBound() const { return impl_->ConservativeLowerBound(); }
+ int ConservativeUpperBound() const { return impl_->ConservativeUpperBound(); }
+
+ // Returns true iff call_count calls will satisfy this cardinality.
+ bool IsSatisfiedByCallCount(int call_count) const {
+ return impl_->IsSatisfiedByCallCount(call_count);
+ }
+
+ // Returns true iff call_count calls will saturate this cardinality.
+ bool IsSaturatedByCallCount(int call_count) const {
+ return impl_->IsSaturatedByCallCount(call_count);
+ }
+
+ // Returns true iff call_count calls will over-saturate this
+ // cardinality, i.e. exceed the maximum number of allowed calls.
+ bool IsOverSaturatedByCallCount(int call_count) const {
+ return impl_->IsSaturatedByCallCount(call_count) &&
+ !impl_->IsSatisfiedByCallCount(call_count);
+ }
+
+ // Describes self to an ostream
+ void DescribeTo(::std::ostream* os) const { impl_->DescribeTo(os); }
+
+ // Describes the given actual call count to an ostream.
+ static void DescribeActualCallCountTo(int actual_call_count,
+ ::std::ostream* os);
+ private:
+ internal::linked_ptr<const CardinalityInterface> impl_;
+};
+
+// Creates a cardinality that allows at least n calls.
+Cardinality AtLeast(int n);
+
+// Creates a cardinality that allows at most n calls.
+Cardinality AtMost(int n);
+
+// Creates a cardinality that allows any number of calls.
+Cardinality AnyNumber();
+
+// Creates a cardinality that allows between min and max calls.
+Cardinality Between(int min, int max);
+
+// Creates a cardinality that allows exactly n calls.
+Cardinality Exactly(int n);
+
+// Creates a cardinality from its implementation.
+inline Cardinality MakeCardinality(const CardinalityInterface* c) {
+ return Cardinality(c);
+}
+
+} // namespace testing
+
+#endif // GMOCK_INCLUDE_GMOCK_GMOCK_CARDINALITIES_H_
+// This file was GENERATED by a script. DO NOT EDIT BY HAND!!!
+
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements some commonly used variadic actions.
+
+#ifndef GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_ACTIONS_H_
+#define GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_ACTIONS_H_
+
+
+namespace testing {
+namespace internal {
+
+// InvokeHelper<F> knows how to unpack an N-tuple and invoke an N-ary
+// function or method with the unpacked values, where F is a function
+// type that takes N arguments.
+template <typename Result, typename ArgumentTuple>
+class InvokeHelper;
+
+template <typename R>
+class InvokeHelper<R, ::std::tr1::tuple<> > {
+ public:
+ template <typename Function>
+ static R Invoke(Function function, const ::std::tr1::tuple<>&) {
+ return function();
+ }
+
+ template <class Class, typename MethodPtr>
+ static R InvokeMethod(Class* obj_ptr,
+ MethodPtr method_ptr,
+ const ::std::tr1::tuple<>&) {
+ return (obj_ptr->*method_ptr)();
+ }
+};
+
+template <typename R, typename A1>
+class InvokeHelper<R, ::std::tr1::tuple<A1> > {
+ public:
+ template <typename Function>
+ static R Invoke(Function function, const ::std::tr1::tuple<A1>& args) {
+ using ::std::tr1::get;
+ return function(get<0>(args));
+ }
+
+ template <class Class, typename MethodPtr>
+ static R InvokeMethod(Class* obj_ptr,
+ MethodPtr method_ptr,
+ const ::std::tr1::tuple<A1>& args) {
+ using ::std::tr1::get;
+ return (obj_ptr->*method_ptr)(get<0>(args));
+ }
+};
+
+template <typename R, typename A1, typename A2>
+class InvokeHelper<R, ::std::tr1::tuple<A1, A2> > {
+ public:
+ template <typename Function>
+ static R Invoke(Function function, const ::std::tr1::tuple<A1, A2>& args) {
+ using ::std::tr1::get;
+ return function(get<0>(args), get<1>(args));
+ }
+
+ template <class Class, typename MethodPtr>
+ static R InvokeMethod(Class* obj_ptr,
+ MethodPtr method_ptr,
+ const ::std::tr1::tuple<A1, A2>& args) {
+ using ::std::tr1::get;
+ return (obj_ptr->*method_ptr)(get<0>(args), get<1>(args));
+ }
+};
+
+template <typename R, typename A1, typename A2, typename A3>
+class InvokeHelper<R, ::std::tr1::tuple<A1, A2, A3> > {
+ public:
+ template <typename Function>
+ static R Invoke(Function function, const ::std::tr1::tuple<A1, A2,
+ A3>& args) {
+ using ::std::tr1::get;
+ return function(get<0>(args), get<1>(args), get<2>(args));
+ }
+
+ template <class Class, typename MethodPtr>
+ static R InvokeMethod(Class* obj_ptr,
+ MethodPtr method_ptr,
+ const ::std::tr1::tuple<A1, A2, A3>& args) {
+ using ::std::tr1::get;
+ return (obj_ptr->*method_ptr)(get<0>(args), get<1>(args), get<2>(args));
+ }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4>
+class InvokeHelper<R, ::std::tr1::tuple<A1, A2, A3, A4> > {
+ public:
+ template <typename Function>
+ static R Invoke(Function function, const ::std::tr1::tuple<A1, A2, A3,
+ A4>& args) {
+ using ::std::tr1::get;
+ return function(get<0>(args), get<1>(args), get<2>(args), get<3>(args));
+ }
+
+ template <class Class, typename MethodPtr>
+ static R InvokeMethod(Class* obj_ptr,
+ MethodPtr method_ptr,
+ const ::std::tr1::tuple<A1, A2, A3, A4>& args) {
+ using ::std::tr1::get;
+ return (obj_ptr->*method_ptr)(get<0>(args), get<1>(args), get<2>(args),
+ get<3>(args));
+ }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5>
+class InvokeHelper<R, ::std::tr1::tuple<A1, A2, A3, A4, A5> > {
+ public:
+ template <typename Function>
+ static R Invoke(Function function, const ::std::tr1::tuple<A1, A2, A3, A4,
+ A5>& args) {
+ using ::std::tr1::get;
+ return function(get<0>(args), get<1>(args), get<2>(args), get<3>(args),
+ get<4>(args));
+ }
+
+ template <class Class, typename MethodPtr>
+ static R InvokeMethod(Class* obj_ptr,
+ MethodPtr method_ptr,
+ const ::std::tr1::tuple<A1, A2, A3, A4, A5>& args) {
+ using ::std::tr1::get;
+ return (obj_ptr->*method_ptr)(get<0>(args), get<1>(args), get<2>(args),
+ get<3>(args), get<4>(args));
+ }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6>
+class InvokeHelper<R, ::std::tr1::tuple<A1, A2, A3, A4, A5, A6> > {
+ public:
+ template <typename Function>
+ static R Invoke(Function function, const ::std::tr1::tuple<A1, A2, A3, A4,
+ A5, A6>& args) {
+ using ::std::tr1::get;
+ return function(get<0>(args), get<1>(args), get<2>(args), get<3>(args),
+ get<4>(args), get<5>(args));
+ }
+
+ template <class Class, typename MethodPtr>
+ static R InvokeMethod(Class* obj_ptr,
+ MethodPtr method_ptr,
+ const ::std::tr1::tuple<A1, A2, A3, A4, A5, A6>& args) {
+ using ::std::tr1::get;
+ return (obj_ptr->*method_ptr)(get<0>(args), get<1>(args), get<2>(args),
+ get<3>(args), get<4>(args), get<5>(args));
+ }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6, typename A7>
+class InvokeHelper<R, ::std::tr1::tuple<A1, A2, A3, A4, A5, A6, A7> > {
+ public:
+ template <typename Function>
+ static R Invoke(Function function, const ::std::tr1::tuple<A1, A2, A3, A4,
+ A5, A6, A7>& args) {
+ using ::std::tr1::get;
+ return function(get<0>(args), get<1>(args), get<2>(args), get<3>(args),
+ get<4>(args), get<5>(args), get<6>(args));
+ }
+
+ template <class Class, typename MethodPtr>
+ static R InvokeMethod(Class* obj_ptr,
+ MethodPtr method_ptr,
+ const ::std::tr1::tuple<A1, A2, A3, A4, A5, A6,
+ A7>& args) {
+ using ::std::tr1::get;
+ return (obj_ptr->*method_ptr)(get<0>(args), get<1>(args), get<2>(args),
+ get<3>(args), get<4>(args), get<5>(args), get<6>(args));
+ }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6, typename A7, typename A8>
+class InvokeHelper<R, ::std::tr1::tuple<A1, A2, A3, A4, A5, A6, A7, A8> > {
+ public:
+ template <typename Function>
+ static R Invoke(Function function, const ::std::tr1::tuple<A1, A2, A3, A4,
+ A5, A6, A7, A8>& args) {
+ using ::std::tr1::get;
+ return function(get<0>(args), get<1>(args), get<2>(args), get<3>(args),
+ get<4>(args), get<5>(args), get<6>(args), get<7>(args));
+ }
+
+ template <class Class, typename MethodPtr>
+ static R InvokeMethod(Class* obj_ptr,
+ MethodPtr method_ptr,
+ const ::std::tr1::tuple<A1, A2, A3, A4, A5, A6, A7,
+ A8>& args) {
+ using ::std::tr1::get;
+ return (obj_ptr->*method_ptr)(get<0>(args), get<1>(args), get<2>(args),
+ get<3>(args), get<4>(args), get<5>(args), get<6>(args), get<7>(args));
+ }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6, typename A7, typename A8, typename A9>
+class InvokeHelper<R, ::std::tr1::tuple<A1, A2, A3, A4, A5, A6, A7, A8, A9> > {
+ public:
+ template <typename Function>
+ static R Invoke(Function function, const ::std::tr1::tuple<A1, A2, A3, A4,
+ A5, A6, A7, A8, A9>& args) {
+ using ::std::tr1::get;
+ return function(get<0>(args), get<1>(args), get<2>(args), get<3>(args),
+ get<4>(args), get<5>(args), get<6>(args), get<7>(args), get<8>(args));
+ }
+
+ template <class Class, typename MethodPtr>
+ static R InvokeMethod(Class* obj_ptr,
+ MethodPtr method_ptr,
+ const ::std::tr1::tuple<A1, A2, A3, A4, A5, A6, A7, A8,
+ A9>& args) {
+ using ::std::tr1::get;
+ return (obj_ptr->*method_ptr)(get<0>(args), get<1>(args), get<2>(args),
+ get<3>(args), get<4>(args), get<5>(args), get<6>(args), get<7>(args),
+ get<8>(args));
+ }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6, typename A7, typename A8, typename A9,
+ typename A10>
+class InvokeHelper<R, ::std::tr1::tuple<A1, A2, A3, A4, A5, A6, A7, A8, A9,
+ A10> > {
+ public:
+ template <typename Function>
+ static R Invoke(Function function, const ::std::tr1::tuple<A1, A2, A3, A4,
+ A5, A6, A7, A8, A9, A10>& args) {
+ using ::std::tr1::get;
+ return function(get<0>(args), get<1>(args), get<2>(args), get<3>(args),
+ get<4>(args), get<5>(args), get<6>(args), get<7>(args), get<8>(args),
+ get<9>(args));
+ }
+
+ template <class Class, typename MethodPtr>
+ static R InvokeMethod(Class* obj_ptr,
+ MethodPtr method_ptr,
+ const ::std::tr1::tuple<A1, A2, A3, A4, A5, A6, A7, A8,
+ A9, A10>& args) {
+ using ::std::tr1::get;
+ return (obj_ptr->*method_ptr)(get<0>(args), get<1>(args), get<2>(args),
+ get<3>(args), get<4>(args), get<5>(args), get<6>(args), get<7>(args),
+ get<8>(args), get<9>(args));
+ }
+};
+
+// CallableHelper has static methods for invoking "callables",
+// i.e. function pointers and functors. It uses overloading to
+// provide a uniform interface for invoking different kinds of
+// callables. In particular, you can use:
+//
+// CallableHelper<R>::Call(callable, a1, a2, ..., an)
+//
+// to invoke an n-ary callable, where R is its return type. If an
+// argument, say a2, needs to be passed by reference, you should write
+// ByRef(a2) instead of a2 in the above expression.
+template <typename R>
+class CallableHelper {
+ public:
+ // Calls a nullary callable.
+ template <typename Function>
+ static R Call(Function function) { return function(); }
+
+ // Calls a unary callable.
+
+ // We deliberately pass a1 by value instead of const reference here
+ // in case it is a C-string literal. If we had declared the
+ // parameter as 'const A1& a1' and write Call(function, "Hi"), the
+ // compiler would've thought A1 is 'char[3]', which causes trouble
+ // when you need to copy a value of type A1. By declaring the
+ // parameter as 'A1 a1', the compiler will correctly infer that A1
+ // is 'const char*' when it sees Call(function, "Hi").
+ //
+ // Since this function is defined inline, the compiler can get rid
+ // of the copying of the arguments. Therefore the performance won't
+ // be hurt.
+ template <typename Function, typename A1>
+ static R Call(Function function, A1 a1) { return function(a1); }
+
+ // Calls a binary callable.
+ template <typename Function, typename A1, typename A2>
+ static R Call(Function function, A1 a1, A2 a2) {
+ return function(a1, a2);
+ }
+
+ // Calls a ternary callable.
+ template <typename Function, typename A1, typename A2, typename A3>
+ static R Call(Function function, A1 a1, A2 a2, A3 a3) {
+ return function(a1, a2, a3);
+ }
+
+ // Calls a 4-ary callable.
+ template <typename Function, typename A1, typename A2, typename A3,
+ typename A4>
+ static R Call(Function function, A1 a1, A2 a2, A3 a3, A4 a4) {
+ return function(a1, a2, a3, a4);
+ }
+
+ // Calls a 5-ary callable.
+ template <typename Function, typename A1, typename A2, typename A3,
+ typename A4, typename A5>
+ static R Call(Function function, A1 a1, A2 a2, A3 a3, A4 a4, A5 a5) {
+ return function(a1, a2, a3, a4, a5);
+ }
+
+ // Calls a 6-ary callable.
+ template <typename Function, typename A1, typename A2, typename A3,
+ typename A4, typename A5, typename A6>
+ static R Call(Function function, A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6) {
+ return function(a1, a2, a3, a4, a5, a6);
+ }
+
+ // Calls a 7-ary callable.
+ template <typename Function, typename A1, typename A2, typename A3,
+ typename A4, typename A5, typename A6, typename A7>
+ static R Call(Function function, A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6,
+ A7 a7) {
+ return function(a1, a2, a3, a4, a5, a6, a7);
+ }
+
+ // Calls a 8-ary callable.
+ template <typename Function, typename A1, typename A2, typename A3,
+ typename A4, typename A5, typename A6, typename A7, typename A8>
+ static R Call(Function function, A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6,
+ A7 a7, A8 a8) {
+ return function(a1, a2, a3, a4, a5, a6, a7, a8);
+ }
+
+ // Calls a 9-ary callable.
+ template <typename Function, typename A1, typename A2, typename A3,
+ typename A4, typename A5, typename A6, typename A7, typename A8,
+ typename A9>
+ static R Call(Function function, A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6,
+ A7 a7, A8 a8, A9 a9) {
+ return function(a1, a2, a3, a4, a5, a6, a7, a8, a9);
+ }
+
+ // Calls a 10-ary callable.
+ template <typename Function, typename A1, typename A2, typename A3,
+ typename A4, typename A5, typename A6, typename A7, typename A8,
+ typename A9, typename A10>
+ static R Call(Function function, A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6,
+ A7 a7, A8 a8, A9 a9, A10 a10) {
+ return function(a1, a2, a3, a4, a5, a6, a7, a8, a9, a10);
+ }
+
+}; // class CallableHelper
+
+// An INTERNAL macro for extracting the type of a tuple field. It's
+// subject to change without notice - DO NOT USE IN USER CODE!
+#define GMOCK_FIELD_(Tuple, N) \
+ typename ::std::tr1::tuple_element<N, Tuple>::type
+
+// SelectArgs<Result, ArgumentTuple, k1, k2, ..., k_n>::type is the
+// type of an n-ary function whose i-th (1-based) argument type is the
+// k{i}-th (0-based) field of ArgumentTuple, which must be a tuple
+// type, and whose return type is Result. For example,
+// SelectArgs<int, ::std::tr1::tuple<bool, char, double, long>, 0, 3>::type
+// is int(bool, long).
+//
+// SelectArgs<Result, ArgumentTuple, k1, k2, ..., k_n>::Select(args)
+// returns the selected fields (k1, k2, ..., k_n) of args as a tuple.
+// For example,
+// SelectArgs<int, ::std::tr1::tuple<bool, char, double>, 2, 0>::Select(
+// ::std::tr1::make_tuple(true, 'a', 2.5))
+// returns ::std::tr1::tuple (2.5, true).
+//
+// The numbers in list k1, k2, ..., k_n must be >= 0, where n can be
+// in the range [0, 10]. Duplicates are allowed and they don't have
+// to be in an ascending or descending order.
+
+template <typename Result, typename ArgumentTuple, int k1, int k2, int k3,
+ int k4, int k5, int k6, int k7, int k8, int k9, int k10>
+class SelectArgs {
+ public:
+ typedef Result type(GMOCK_FIELD_(ArgumentTuple, k1),
+ GMOCK_FIELD_(ArgumentTuple, k2), GMOCK_FIELD_(ArgumentTuple, k3),
+ GMOCK_FIELD_(ArgumentTuple, k4), GMOCK_FIELD_(ArgumentTuple, k5),
+ GMOCK_FIELD_(ArgumentTuple, k6), GMOCK_FIELD_(ArgumentTuple, k7),
+ GMOCK_FIELD_(ArgumentTuple, k8), GMOCK_FIELD_(ArgumentTuple, k9),
+ GMOCK_FIELD_(ArgumentTuple, k10));
+ typedef typename Function<type>::ArgumentTuple SelectedArgs;
+ static SelectedArgs Select(const ArgumentTuple& args) {
+ using ::std::tr1::get;
+ return SelectedArgs(get<k1>(args), get<k2>(args), get<k3>(args),
+ get<k4>(args), get<k5>(args), get<k6>(args), get<k7>(args),
+ get<k8>(args), get<k9>(args), get<k10>(args));
+ }
+};
+
+template <typename Result, typename ArgumentTuple>
+class SelectArgs<Result, ArgumentTuple,
+ -1, -1, -1, -1, -1, -1, -1, -1, -1, -1> {
+ public:
+ typedef Result type();
+ typedef typename Function<type>::ArgumentTuple SelectedArgs;
+ static SelectedArgs Select(const ArgumentTuple& /* args */) {
+ using ::std::tr1::get;
+ return SelectedArgs();
+ }
+};
+
+template <typename Result, typename ArgumentTuple, int k1>
+class SelectArgs<Result, ArgumentTuple,
+ k1, -1, -1, -1, -1, -1, -1, -1, -1, -1> {
+ public:
+ typedef Result type(GMOCK_FIELD_(ArgumentTuple, k1));
+ typedef typename Function<type>::ArgumentTuple SelectedArgs;
+ static SelectedArgs Select(const ArgumentTuple& args) {
+ using ::std::tr1::get;
+ return SelectedArgs(get<k1>(args));
+ }
+};
+
+template <typename Result, typename ArgumentTuple, int k1, int k2>
+class SelectArgs<Result, ArgumentTuple,
+ k1, k2, -1, -1, -1, -1, -1, -1, -1, -1> {
+ public:
+ typedef Result type(GMOCK_FIELD_(ArgumentTuple, k1),
+ GMOCK_FIELD_(ArgumentTuple, k2));
+ typedef typename Function<type>::ArgumentTuple SelectedArgs;
+ static SelectedArgs Select(const ArgumentTuple& args) {
+ using ::std::tr1::get;
+ return SelectedArgs(get<k1>(args), get<k2>(args));
+ }
+};
+
+template <typename Result, typename ArgumentTuple, int k1, int k2, int k3>
+class SelectArgs<Result, ArgumentTuple,
+ k1, k2, k3, -1, -1, -1, -1, -1, -1, -1> {
+ public:
+ typedef Result type(GMOCK_FIELD_(ArgumentTuple, k1),
+ GMOCK_FIELD_(ArgumentTuple, k2), GMOCK_FIELD_(ArgumentTuple, k3));
+ typedef typename Function<type>::ArgumentTuple SelectedArgs;
+ static SelectedArgs Select(const ArgumentTuple& args) {
+ using ::std::tr1::get;
+ return SelectedArgs(get<k1>(args), get<k2>(args), get<k3>(args));
+ }
+};
+
+template <typename Result, typename ArgumentTuple, int k1, int k2, int k3,
+ int k4>
+class SelectArgs<Result, ArgumentTuple,
+ k1, k2, k3, k4, -1, -1, -1, -1, -1, -1> {
+ public:
+ typedef Result type(GMOCK_FIELD_(ArgumentTuple, k1),
+ GMOCK_FIELD_(ArgumentTuple, k2), GMOCK_FIELD_(ArgumentTuple, k3),
+ GMOCK_FIELD_(ArgumentTuple, k4));
+ typedef typename Function<type>::ArgumentTuple SelectedArgs;
+ static SelectedArgs Select(const ArgumentTuple& args) {
+ using ::std::tr1::get;
+ return SelectedArgs(get<k1>(args), get<k2>(args), get<k3>(args),
+ get<k4>(args));
+ }
+};
+
+template <typename Result, typename ArgumentTuple, int k1, int k2, int k3,
+ int k4, int k5>
+class SelectArgs<Result, ArgumentTuple,
+ k1, k2, k3, k4, k5, -1, -1, -1, -1, -1> {
+ public:
+ typedef Result type(GMOCK_FIELD_(ArgumentTuple, k1),
+ GMOCK_FIELD_(ArgumentTuple, k2), GMOCK_FIELD_(ArgumentTuple, k3),
+ GMOCK_FIELD_(ArgumentTuple, k4), GMOCK_FIELD_(ArgumentTuple, k5));
+ typedef typename Function<type>::ArgumentTuple SelectedArgs;
+ static SelectedArgs Select(const ArgumentTuple& args) {
+ using ::std::tr1::get;
+ return SelectedArgs(get<k1>(args), get<k2>(args), get<k3>(args),
+ get<k4>(args), get<k5>(args));
+ }
+};
+
+template <typename Result, typename ArgumentTuple, int k1, int k2, int k3,
+ int k4, int k5, int k6>
+class SelectArgs<Result, ArgumentTuple,
+ k1, k2, k3, k4, k5, k6, -1, -1, -1, -1> {
+ public:
+ typedef Result type(GMOCK_FIELD_(ArgumentTuple, k1),
+ GMOCK_FIELD_(ArgumentTuple, k2), GMOCK_FIELD_(ArgumentTuple, k3),
+ GMOCK_FIELD_(ArgumentTuple, k4), GMOCK_FIELD_(ArgumentTuple, k5),
+ GMOCK_FIELD_(ArgumentTuple, k6));
+ typedef typename Function<type>::ArgumentTuple SelectedArgs;
+ static SelectedArgs Select(const ArgumentTuple& args) {
+ using ::std::tr1::get;
+ return SelectedArgs(get<k1>(args), get<k2>(args), get<k3>(args),
+ get<k4>(args), get<k5>(args), get<k6>(args));
+ }
+};
+
+template <typename Result, typename ArgumentTuple, int k1, int k2, int k3,
+ int k4, int k5, int k6, int k7>
+class SelectArgs<Result, ArgumentTuple,
+ k1, k2, k3, k4, k5, k6, k7, -1, -1, -1> {
+ public:
+ typedef Result type(GMOCK_FIELD_(ArgumentTuple, k1),
+ GMOCK_FIELD_(ArgumentTuple, k2), GMOCK_FIELD_(ArgumentTuple, k3),
+ GMOCK_FIELD_(ArgumentTuple, k4), GMOCK_FIELD_(ArgumentTuple, k5),
+ GMOCK_FIELD_(ArgumentTuple, k6), GMOCK_FIELD_(ArgumentTuple, k7));
+ typedef typename Function<type>::ArgumentTuple SelectedArgs;
+ static SelectedArgs Select(const ArgumentTuple& args) {
+ using ::std::tr1::get;
+ return SelectedArgs(get<k1>(args), get<k2>(args), get<k3>(args),
+ get<k4>(args), get<k5>(args), get<k6>(args), get<k7>(args));
+ }
+};
+
+template <typename Result, typename ArgumentTuple, int k1, int k2, int k3,
+ int k4, int k5, int k6, int k7, int k8>
+class SelectArgs<Result, ArgumentTuple,
+ k1, k2, k3, k4, k5, k6, k7, k8, -1, -1> {
+ public:
+ typedef Result type(GMOCK_FIELD_(ArgumentTuple, k1),
+ GMOCK_FIELD_(ArgumentTuple, k2), GMOCK_FIELD_(ArgumentTuple, k3),
+ GMOCK_FIELD_(ArgumentTuple, k4), GMOCK_FIELD_(ArgumentTuple, k5),
+ GMOCK_FIELD_(ArgumentTuple, k6), GMOCK_FIELD_(ArgumentTuple, k7),
+ GMOCK_FIELD_(ArgumentTuple, k8));
+ typedef typename Function<type>::ArgumentTuple SelectedArgs;
+ static SelectedArgs Select(const ArgumentTuple& args) {
+ using ::std::tr1::get;
+ return SelectedArgs(get<k1>(args), get<k2>(args), get<k3>(args),
+ get<k4>(args), get<k5>(args), get<k6>(args), get<k7>(args),
+ get<k8>(args));
+ }
+};
+
+template <typename Result, typename ArgumentTuple, int k1, int k2, int k3,
+ int k4, int k5, int k6, int k7, int k8, int k9>
+class SelectArgs<Result, ArgumentTuple,
+ k1, k2, k3, k4, k5, k6, k7, k8, k9, -1> {
+ public:
+ typedef Result type(GMOCK_FIELD_(ArgumentTuple, k1),
+ GMOCK_FIELD_(ArgumentTuple, k2), GMOCK_FIELD_(ArgumentTuple, k3),
+ GMOCK_FIELD_(ArgumentTuple, k4), GMOCK_FIELD_(ArgumentTuple, k5),
+ GMOCK_FIELD_(ArgumentTuple, k6), GMOCK_FIELD_(ArgumentTuple, k7),
+ GMOCK_FIELD_(ArgumentTuple, k8), GMOCK_FIELD_(ArgumentTuple, k9));
+ typedef typename Function<type>::ArgumentTuple SelectedArgs;
+ static SelectedArgs Select(const ArgumentTuple& args) {
+ using ::std::tr1::get;
+ return SelectedArgs(get<k1>(args), get<k2>(args), get<k3>(args),
+ get<k4>(args), get<k5>(args), get<k6>(args), get<k7>(args),
+ get<k8>(args), get<k9>(args));
+ }
+};
+
+#undef GMOCK_FIELD_
+
+// Implements the WithArgs action.
+template <typename InnerAction, int k1 = -1, int k2 = -1, int k3 = -1,
+ int k4 = -1, int k5 = -1, int k6 = -1, int k7 = -1, int k8 = -1,
+ int k9 = -1, int k10 = -1>
+class WithArgsAction {
+ public:
+ explicit WithArgsAction(const InnerAction& action) : action_(action) {}
+
+ template <typename F>
+ operator Action<F>() const { return MakeAction(new Impl<F>(action_)); }
+
+ private:
+ template <typename F>
+ class Impl : public ActionInterface<F> {
+ public:
+ typedef typename Function<F>::Result Result;
+ typedef typename Function<F>::ArgumentTuple ArgumentTuple;
+
+ explicit Impl(const InnerAction& action) : action_(action) {}
+
+ virtual Result Perform(const ArgumentTuple& args) {
+ return action_.Perform(SelectArgs<Result, ArgumentTuple, k1, k2, k3, k4,
+ k5, k6, k7, k8, k9, k10>::Select(args));
+ }
+
+ private:
+ typedef typename SelectArgs<Result, ArgumentTuple,
+ k1, k2, k3, k4, k5, k6, k7, k8, k9, k10>::type InnerFunctionType;
+
+ Action<InnerFunctionType> action_;
+ };
+
+ const InnerAction action_;
+
+ GTEST_DISALLOW_ASSIGN_(WithArgsAction);
+};
+
+// A macro from the ACTION* family (defined later in this file)
+// defines an action that can be used in a mock function. Typically,
+// these actions only care about a subset of the arguments of the mock
+// function. For example, if such an action only uses the second
+// argument, it can be used in any mock function that takes >= 2
+// arguments where the type of the second argument is compatible.
+//
+// Therefore, the action implementation must be prepared to take more
+// arguments than it needs. The ExcessiveArg type is used to
+// represent those excessive arguments. In order to keep the compiler
+// error messages tractable, we define it in the testing namespace
+// instead of testing::internal. However, this is an INTERNAL TYPE
+// and subject to change without notice, so a user MUST NOT USE THIS
+// TYPE DIRECTLY.
+struct ExcessiveArg {};
+
+// A helper class needed for implementing the ACTION* macros.
+template <typename Result, class Impl>
+class ActionHelper {
+ public:
+ static Result Perform(Impl* impl, const ::std::tr1::tuple<>& args) {
+ using ::std::tr1::get;
+ return impl->template gmock_PerformImpl<>(args, ExcessiveArg(),
+ ExcessiveArg(), ExcessiveArg(), ExcessiveArg(), ExcessiveArg(),
+ ExcessiveArg(), ExcessiveArg(), ExcessiveArg(), ExcessiveArg(),
+ ExcessiveArg());
+ }
+
+ template <typename A0>
+ static Result Perform(Impl* impl, const ::std::tr1::tuple<A0>& args) {
+ using ::std::tr1::get;
+ return impl->template gmock_PerformImpl<A0>(args, get<0>(args),
+ ExcessiveArg(), ExcessiveArg(), ExcessiveArg(), ExcessiveArg(),
+ ExcessiveArg(), ExcessiveArg(), ExcessiveArg(), ExcessiveArg(),
+ ExcessiveArg());
+ }
+
+ template <typename A0, typename A1>
+ static Result Perform(Impl* impl, const ::std::tr1::tuple<A0, A1>& args) {
+ using ::std::tr1::get;
+ return impl->template gmock_PerformImpl<A0, A1>(args, get<0>(args),
+ get<1>(args), ExcessiveArg(), ExcessiveArg(), ExcessiveArg(),
+ ExcessiveArg(), ExcessiveArg(), ExcessiveArg(), ExcessiveArg(),
+ ExcessiveArg());
+ }
+
+ template <typename A0, typename A1, typename A2>
+ static Result Perform(Impl* impl, const ::std::tr1::tuple<A0, A1, A2>& args) {
+ using ::std::tr1::get;
+ return impl->template gmock_PerformImpl<A0, A1, A2>(args, get<0>(args),
+ get<1>(args), get<2>(args), ExcessiveArg(), ExcessiveArg(),
+ ExcessiveArg(), ExcessiveArg(), ExcessiveArg(), ExcessiveArg(),
+ ExcessiveArg());
+ }
+
+ template <typename A0, typename A1, typename A2, typename A3>
+ static Result Perform(Impl* impl, const ::std::tr1::tuple<A0, A1, A2,
+ A3>& args) {
+ using ::std::tr1::get;
+ return impl->template gmock_PerformImpl<A0, A1, A2, A3>(args, get<0>(args),
+ get<1>(args), get<2>(args), get<3>(args), ExcessiveArg(),
+ ExcessiveArg(), ExcessiveArg(), ExcessiveArg(), ExcessiveArg(),
+ ExcessiveArg());
+ }
+
+ template <typename A0, typename A1, typename A2, typename A3, typename A4>
+ static Result Perform(Impl* impl, const ::std::tr1::tuple<A0, A1, A2, A3,
+ A4>& args) {
+ using ::std::tr1::get;
+ return impl->template gmock_PerformImpl<A0, A1, A2, A3, A4>(args,
+ get<0>(args), get<1>(args), get<2>(args), get<3>(args), get<4>(args),
+ ExcessiveArg(), ExcessiveArg(), ExcessiveArg(), ExcessiveArg(),
+ ExcessiveArg());
+ }
+
+ template <typename A0, typename A1, typename A2, typename A3, typename A4,
+ typename A5>
+ static Result Perform(Impl* impl, const ::std::tr1::tuple<A0, A1, A2, A3, A4,
+ A5>& args) {
+ using ::std::tr1::get;
+ return impl->template gmock_PerformImpl<A0, A1, A2, A3, A4, A5>(args,
+ get<0>(args), get<1>(args), get<2>(args), get<3>(args), get<4>(args),
+ get<5>(args), ExcessiveArg(), ExcessiveArg(), ExcessiveArg(),
+ ExcessiveArg());
+ }
+
+ template <typename A0, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6>
+ static Result Perform(Impl* impl, const ::std::tr1::tuple<A0, A1, A2, A3, A4,
+ A5, A6>& args) {
+ using ::std::tr1::get;
+ return impl->template gmock_PerformImpl<A0, A1, A2, A3, A4, A5, A6>(args,
+ get<0>(args), get<1>(args), get<2>(args), get<3>(args), get<4>(args),
+ get<5>(args), get<6>(args), ExcessiveArg(), ExcessiveArg(),
+ ExcessiveArg());
+ }
+
+ template <typename A0, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6, typename A7>
+ static Result Perform(Impl* impl, const ::std::tr1::tuple<A0, A1, A2, A3, A4,
+ A5, A6, A7>& args) {
+ using ::std::tr1::get;
+ return impl->template gmock_PerformImpl<A0, A1, A2, A3, A4, A5, A6,
+ A7>(args, get<0>(args), get<1>(args), get<2>(args), get<3>(args),
+ get<4>(args), get<5>(args), get<6>(args), get<7>(args), ExcessiveArg(),
+ ExcessiveArg());
+ }
+
+ template <typename A0, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6, typename A7, typename A8>
+ static Result Perform(Impl* impl, const ::std::tr1::tuple<A0, A1, A2, A3, A4,
+ A5, A6, A7, A8>& args) {
+ using ::std::tr1::get;
+ return impl->template gmock_PerformImpl<A0, A1, A2, A3, A4, A5, A6, A7,
+ A8>(args, get<0>(args), get<1>(args), get<2>(args), get<3>(args),
+ get<4>(args), get<5>(args), get<6>(args), get<7>(args), get<8>(args),
+ ExcessiveArg());
+ }
+
+ template <typename A0, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6, typename A7, typename A8, typename A9>
+ static Result Perform(Impl* impl, const ::std::tr1::tuple<A0, A1, A2, A3, A4,
+ A5, A6, A7, A8, A9>& args) {
+ using ::std::tr1::get;
+ return impl->template gmock_PerformImpl<A0, A1, A2, A3, A4, A5, A6, A7, A8,
+ A9>(args, get<0>(args), get<1>(args), get<2>(args), get<3>(args),
+ get<4>(args), get<5>(args), get<6>(args), get<7>(args), get<8>(args),
+ get<9>(args));
+ }
+};
+
+} // namespace internal
+
+// Various overloads for Invoke().
+
+// WithArgs<N1, N2, ..., Nk>(an_action) creates an action that passes
+// the selected arguments of the mock function to an_action and
+// performs it. It serves as an adaptor between actions with
+// different argument lists. C++ doesn't support default arguments for
+// function templates, so we have to overload it.
+template <int k1, typename InnerAction>
+inline internal::WithArgsAction<InnerAction, k1>
+WithArgs(const InnerAction& action) {
+ return internal::WithArgsAction<InnerAction, k1>(action);
+}
+
+template <int k1, int k2, typename InnerAction>
+inline internal::WithArgsAction<InnerAction, k1, k2>
+WithArgs(const InnerAction& action) {
+ return internal::WithArgsAction<InnerAction, k1, k2>(action);
+}
+
+template <int k1, int k2, int k3, typename InnerAction>
+inline internal::WithArgsAction<InnerAction, k1, k2, k3>
+WithArgs(const InnerAction& action) {
+ return internal::WithArgsAction<InnerAction, k1, k2, k3>(action);
+}
+
+template <int k1, int k2, int k3, int k4, typename InnerAction>
+inline internal::WithArgsAction<InnerAction, k1, k2, k3, k4>
+WithArgs(const InnerAction& action) {
+ return internal::WithArgsAction<InnerAction, k1, k2, k3, k4>(action);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, typename InnerAction>
+inline internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5>
+WithArgs(const InnerAction& action) {
+ return internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5>(action);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, int k6, typename InnerAction>
+inline internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5, k6>
+WithArgs(const InnerAction& action) {
+ return internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5, k6>(action);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, int k6, int k7,
+ typename InnerAction>
+inline internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5, k6, k7>
+WithArgs(const InnerAction& action) {
+ return internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5, k6,
+ k7>(action);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, int k6, int k7, int k8,
+ typename InnerAction>
+inline internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5, k6, k7, k8>
+WithArgs(const InnerAction& action) {
+ return internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5, k6, k7,
+ k8>(action);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, int k6, int k7, int k8,
+ int k9, typename InnerAction>
+inline internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5, k6, k7, k8, k9>
+WithArgs(const InnerAction& action) {
+ return internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5, k6, k7, k8,
+ k9>(action);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, int k6, int k7, int k8,
+ int k9, int k10, typename InnerAction>
+inline internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5, k6, k7, k8,
+ k9, k10>
+WithArgs(const InnerAction& action) {
+ return internal::WithArgsAction<InnerAction, k1, k2, k3, k4, k5, k6, k7, k8,
+ k9, k10>(action);
+}
+
+// Creates an action that does actions a1, a2, ..., sequentially in
+// each invocation.
+template <typename Action1, typename Action2>
+inline internal::DoBothAction<Action1, Action2>
+DoAll(Action1 a1, Action2 a2) {
+ return internal::DoBothAction<Action1, Action2>(a1, a2);
+}
+
+template <typename Action1, typename Action2, typename Action3>
+inline internal::DoBothAction<Action1, internal::DoBothAction<Action2,
+ Action3> >
+DoAll(Action1 a1, Action2 a2, Action3 a3) {
+ return DoAll(a1, DoAll(a2, a3));
+}
+
+template <typename Action1, typename Action2, typename Action3,
+ typename Action4>
+inline internal::DoBothAction<Action1, internal::DoBothAction<Action2,
+ internal::DoBothAction<Action3, Action4> > >
+DoAll(Action1 a1, Action2 a2, Action3 a3, Action4 a4) {
+ return DoAll(a1, DoAll(a2, a3, a4));
+}
+
+template <typename Action1, typename Action2, typename Action3,
+ typename Action4, typename Action5>
+inline internal::DoBothAction<Action1, internal::DoBothAction<Action2,
+ internal::DoBothAction<Action3, internal::DoBothAction<Action4,
+ Action5> > > >
+DoAll(Action1 a1, Action2 a2, Action3 a3, Action4 a4, Action5 a5) {
+ return DoAll(a1, DoAll(a2, a3, a4, a5));
+}
+
+template <typename Action1, typename Action2, typename Action3,
+ typename Action4, typename Action5, typename Action6>
+inline internal::DoBothAction<Action1, internal::DoBothAction<Action2,
+ internal::DoBothAction<Action3, internal::DoBothAction<Action4,
+ internal::DoBothAction<Action5, Action6> > > > >
+DoAll(Action1 a1, Action2 a2, Action3 a3, Action4 a4, Action5 a5, Action6 a6) {
+ return DoAll(a1, DoAll(a2, a3, a4, a5, a6));
+}
+
+template <typename Action1, typename Action2, typename Action3,
+ typename Action4, typename Action5, typename Action6, typename Action7>
+inline internal::DoBothAction<Action1, internal::DoBothAction<Action2,
+ internal::DoBothAction<Action3, internal::DoBothAction<Action4,
+ internal::DoBothAction<Action5, internal::DoBothAction<Action6,
+ Action7> > > > > >
+DoAll(Action1 a1, Action2 a2, Action3 a3, Action4 a4, Action5 a5, Action6 a6,
+ Action7 a7) {
+ return DoAll(a1, DoAll(a2, a3, a4, a5, a6, a7));
+}
+
+template <typename Action1, typename Action2, typename Action3,
+ typename Action4, typename Action5, typename Action6, typename Action7,
+ typename Action8>
+inline internal::DoBothAction<Action1, internal::DoBothAction<Action2,
+ internal::DoBothAction<Action3, internal::DoBothAction<Action4,
+ internal::DoBothAction<Action5, internal::DoBothAction<Action6,
+ internal::DoBothAction<Action7, Action8> > > > > > >
+DoAll(Action1 a1, Action2 a2, Action3 a3, Action4 a4, Action5 a5, Action6 a6,
+ Action7 a7, Action8 a8) {
+ return DoAll(a1, DoAll(a2, a3, a4, a5, a6, a7, a8));
+}
+
+template <typename Action1, typename Action2, typename Action3,
+ typename Action4, typename Action5, typename Action6, typename Action7,
+ typename Action8, typename Action9>
+inline internal::DoBothAction<Action1, internal::DoBothAction<Action2,
+ internal::DoBothAction<Action3, internal::DoBothAction<Action4,
+ internal::DoBothAction<Action5, internal::DoBothAction<Action6,
+ internal::DoBothAction<Action7, internal::DoBothAction<Action8,
+ Action9> > > > > > > >
+DoAll(Action1 a1, Action2 a2, Action3 a3, Action4 a4, Action5 a5, Action6 a6,
+ Action7 a7, Action8 a8, Action9 a9) {
+ return DoAll(a1, DoAll(a2, a3, a4, a5, a6, a7, a8, a9));
+}
+
+template <typename Action1, typename Action2, typename Action3,
+ typename Action4, typename Action5, typename Action6, typename Action7,
+ typename Action8, typename Action9, typename Action10>
+inline internal::DoBothAction<Action1, internal::DoBothAction<Action2,
+ internal::DoBothAction<Action3, internal::DoBothAction<Action4,
+ internal::DoBothAction<Action5, internal::DoBothAction<Action6,
+ internal::DoBothAction<Action7, internal::DoBothAction<Action8,
+ internal::DoBothAction<Action9, Action10> > > > > > > > >
+DoAll(Action1 a1, Action2 a2, Action3 a3, Action4 a4, Action5 a5, Action6 a6,
+ Action7 a7, Action8 a8, Action9 a9, Action10 a10) {
+ return DoAll(a1, DoAll(a2, a3, a4, a5, a6, a7, a8, a9, a10));
+}
+
+} // namespace testing
+
+// The ACTION* family of macros can be used in a namespace scope to
+// define custom actions easily. The syntax:
+//
+// ACTION(name) { statements; }
+//
+// will define an action with the given name that executes the
+// statements. The value returned by the statements will be used as
+// the return value of the action. Inside the statements, you can
+// refer to the K-th (0-based) argument of the mock function by
+// 'argK', and refer to its type by 'argK_type'. For example:
+//
+// ACTION(IncrementArg1) {
+// arg1_type temp = arg1;
+// return ++(*temp);
+// }
+//
+// allows you to write
+//
+// ...WillOnce(IncrementArg1());
+//
+// You can also refer to the entire argument tuple and its type by
+// 'args' and 'args_type', and refer to the mock function type and its
+// return type by 'function_type' and 'return_type'.
+//
+// Note that you don't need to specify the types of the mock function
+// arguments. However rest assured that your code is still type-safe:
+// you'll get a compiler error if *arg1 doesn't support the ++
+// operator, or if the type of ++(*arg1) isn't compatible with the
+// mock function's return type, for example.
+//
+// Sometimes you'll want to parameterize the action. For that you can use
+// another macro:
+//
+// ACTION_P(name, param_name) { statements; }
+//
+// For example:
+//
+// ACTION_P(Add, n) { return arg0 + n; }
+//
+// will allow you to write:
+//
+// ...WillOnce(Add(5));
+//
+// Note that you don't need to provide the type of the parameter
+// either. If you need to reference the type of a parameter named
+// 'foo', you can write 'foo_type'. For example, in the body of
+// ACTION_P(Add, n) above, you can write 'n_type' to refer to the type
+// of 'n'.
+//
+// We also provide ACTION_P2, ACTION_P3, ..., up to ACTION_P10 to support
+// multi-parameter actions.
+//
+// For the purpose of typing, you can view
+//
+// ACTION_Pk(Foo, p1, ..., pk) { ... }
+//
+// as shorthand for
+//
+// template <typename p1_type, ..., typename pk_type>
+// FooActionPk<p1_type, ..., pk_type> Foo(p1_type p1, ..., pk_type pk) { ... }
+//
+// In particular, you can provide the template type arguments
+// explicitly when invoking Foo(), as in Foo<long, bool>(5, false);
+// although usually you can rely on the compiler to infer the types
+// for you automatically. You can assign the result of expression
+// Foo(p1, ..., pk) to a variable of type FooActionPk<p1_type, ...,
+// pk_type>. This can be useful when composing actions.
+//
+// You can also overload actions with different numbers of parameters:
+//
+// ACTION_P(Plus, a) { ... }
+// ACTION_P2(Plus, a, b) { ... }
+//
+// While it's tempting to always use the ACTION* macros when defining
+// a new action, you should also consider implementing ActionInterface
+// or using MakePolymorphicAction() instead, especially if you need to
+// use the action a lot. While these approaches require more work,
+// they give you more control on the types of the mock function
+// arguments and the action parameters, which in general leads to
+// better compiler error messages that pay off in the long run. They
+// also allow overloading actions based on parameter types (as opposed
+// to just based on the number of parameters).
+//
+// CAVEAT:
+//
+// ACTION*() can only be used in a namespace scope. The reason is
+// that C++ doesn't yet allow function-local types to be used to
+// instantiate templates. The up-coming C++0x standard will fix this.
+// Once that's done, we'll consider supporting using ACTION*() inside
+// a function.
+//
+// MORE INFORMATION:
+//
+// To learn more about using these macros, please search for 'ACTION'
+// on http://code.google.com/p/googlemock/wiki/CookBook.
+
+// An internal macro needed for implementing ACTION*().
+#define GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_\
+ const args_type& args GTEST_ATTRIBUTE_UNUSED_,\
+ arg0_type arg0 GTEST_ATTRIBUTE_UNUSED_,\
+ arg1_type arg1 GTEST_ATTRIBUTE_UNUSED_,\
+ arg2_type arg2 GTEST_ATTRIBUTE_UNUSED_,\
+ arg3_type arg3 GTEST_ATTRIBUTE_UNUSED_,\
+ arg4_type arg4 GTEST_ATTRIBUTE_UNUSED_,\
+ arg5_type arg5 GTEST_ATTRIBUTE_UNUSED_,\
+ arg6_type arg6 GTEST_ATTRIBUTE_UNUSED_,\
+ arg7_type arg7 GTEST_ATTRIBUTE_UNUSED_,\
+ arg8_type arg8 GTEST_ATTRIBUTE_UNUSED_,\
+ arg9_type arg9 GTEST_ATTRIBUTE_UNUSED_
+
+// Sometimes you want to give an action explicit template parameters
+// that cannot be inferred from its value parameters. ACTION() and
+// ACTION_P*() don't support that. ACTION_TEMPLATE() remedies that
+// and can be viewed as an extension to ACTION() and ACTION_P*().
+//
+// The syntax:
+//
+// ACTION_TEMPLATE(ActionName,
+// HAS_m_TEMPLATE_PARAMS(kind1, name1, ..., kind_m, name_m),
+// AND_n_VALUE_PARAMS(p1, ..., p_n)) { statements; }
+//
+// defines an action template that takes m explicit template
+// parameters and n value parameters. name_i is the name of the i-th
+// template parameter, and kind_i specifies whether it's a typename,
+// an integral constant, or a template. p_i is the name of the i-th
+// value parameter.
+//
+// Example:
+//
+// // DuplicateArg<k, T>(output) converts the k-th argument of the mock
+// // function to type T and copies it to *output.
+// ACTION_TEMPLATE(DuplicateArg,
+// HAS_2_TEMPLATE_PARAMS(int, k, typename, T),
+// AND_1_VALUE_PARAMS(output)) {
+// *output = T(std::tr1::get<k>(args));
+// }
+// ...
+// int n;
+// EXPECT_CALL(mock, Foo(_, _))
+// .WillOnce(DuplicateArg<1, unsigned char>(&n));
+//
+// To create an instance of an action template, write:
+//
+// ActionName<t1, ..., t_m>(v1, ..., v_n)
+//
+// where the ts are the template arguments and the vs are the value
+// arguments. The value argument types are inferred by the compiler.
+// If you want to explicitly specify the value argument types, you can
+// provide additional template arguments:
+//
+// ActionName<t1, ..., t_m, u1, ..., u_k>(v1, ..., v_n)
+//
+// where u_i is the desired type of v_i.
+//
+// ACTION_TEMPLATE and ACTION/ACTION_P* can be overloaded on the
+// number of value parameters, but not on the number of template
+// parameters. Without the restriction, the meaning of the following
+// is unclear:
+//
+// OverloadedAction<int, bool>(x);
+//
+// Are we using a single-template-parameter action where 'bool' refers
+// to the type of x, or are we using a two-template-parameter action
+// where the compiler is asked to infer the type of x?
+//
+// Implementation notes:
+//
+// GMOCK_INTERNAL_*_HAS_m_TEMPLATE_PARAMS and
+// GMOCK_INTERNAL_*_AND_n_VALUE_PARAMS are internal macros for
+// implementing ACTION_TEMPLATE. The main trick we use is to create
+// new macro invocations when expanding a macro. For example, we have
+//
+// #define ACTION_TEMPLATE(name, template_params, value_params)
+// ... GMOCK_INTERNAL_DECL_##template_params ...
+//
+// which causes ACTION_TEMPLATE(..., HAS_1_TEMPLATE_PARAMS(typename, T), ...)
+// to expand to
+//
+// ... GMOCK_INTERNAL_DECL_HAS_1_TEMPLATE_PARAMS(typename, T) ...
+//
+// Since GMOCK_INTERNAL_DECL_HAS_1_TEMPLATE_PARAMS is a macro, the
+// preprocessor will continue to expand it to
+//
+// ... typename T ...
+//
+// This technique conforms to the C++ standard and is portable. It
+// allows us to implement action templates using O(N) code, where N is
+// the maximum number of template/value parameters supported. Without
+// using it, we'd have to devote O(N^2) amount of code to implement all
+// combinations of m and n.
+
+// Declares the template parameters.
+#define GMOCK_INTERNAL_DECL_HAS_1_TEMPLATE_PARAMS(kind0, name0) kind0 name0
+#define GMOCK_INTERNAL_DECL_HAS_2_TEMPLATE_PARAMS(kind0, name0, kind1, \
+ name1) kind0 name0, kind1 name1
+#define GMOCK_INTERNAL_DECL_HAS_3_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+ kind2, name2) kind0 name0, kind1 name1, kind2 name2
+#define GMOCK_INTERNAL_DECL_HAS_4_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+ kind2, name2, kind3, name3) kind0 name0, kind1 name1, kind2 name2, \
+ kind3 name3
+#define GMOCK_INTERNAL_DECL_HAS_5_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+ kind2, name2, kind3, name3, kind4, name4) kind0 name0, kind1 name1, \
+ kind2 name2, kind3 name3, kind4 name4
+#define GMOCK_INTERNAL_DECL_HAS_6_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+ kind2, name2, kind3, name3, kind4, name4, kind5, name5) kind0 name0, \
+ kind1 name1, kind2 name2, kind3 name3, kind4 name4, kind5 name5
+#define GMOCK_INTERNAL_DECL_HAS_7_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+ kind2, name2, kind3, name3, kind4, name4, kind5, name5, kind6, \
+ name6) kind0 name0, kind1 name1, kind2 name2, kind3 name3, kind4 name4, \
+ kind5 name5, kind6 name6
+#define GMOCK_INTERNAL_DECL_HAS_8_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+ kind2, name2, kind3, name3, kind4, name4, kind5, name5, kind6, name6, \
+ kind7, name7) kind0 name0, kind1 name1, kind2 name2, kind3 name3, \
+ kind4 name4, kind5 name5, kind6 name6, kind7 name7
+#define GMOCK_INTERNAL_DECL_HAS_9_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+ kind2, name2, kind3, name3, kind4, name4, kind5, name5, kind6, name6, \
+ kind7, name7, kind8, name8) kind0 name0, kind1 name1, kind2 name2, \
+ kind3 name3, kind4 name4, kind5 name5, kind6 name6, kind7 name7, \
+ kind8 name8
+#define GMOCK_INTERNAL_DECL_HAS_10_TEMPLATE_PARAMS(kind0, name0, kind1, \
+ name1, kind2, name2, kind3, name3, kind4, name4, kind5, name5, kind6, \
+ name6, kind7, name7, kind8, name8, kind9, name9) kind0 name0, \
+ kind1 name1, kind2 name2, kind3 name3, kind4 name4, kind5 name5, \
+ kind6 name6, kind7 name7, kind8 name8, kind9 name9
+
+// Lists the template parameters.
+#define GMOCK_INTERNAL_LIST_HAS_1_TEMPLATE_PARAMS(kind0, name0) name0
+#define GMOCK_INTERNAL_LIST_HAS_2_TEMPLATE_PARAMS(kind0, name0, kind1, \
+ name1) name0, name1
+#define GMOCK_INTERNAL_LIST_HAS_3_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+ kind2, name2) name0, name1, name2
+#define GMOCK_INTERNAL_LIST_HAS_4_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+ kind2, name2, kind3, name3) name0, name1, name2, name3
+#define GMOCK_INTERNAL_LIST_HAS_5_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+ kind2, name2, kind3, name3, kind4, name4) name0, name1, name2, name3, \
+ name4
+#define GMOCK_INTERNAL_LIST_HAS_6_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+ kind2, name2, kind3, name3, kind4, name4, kind5, name5) name0, name1, \
+ name2, name3, name4, name5
+#define GMOCK_INTERNAL_LIST_HAS_7_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+ kind2, name2, kind3, name3, kind4, name4, kind5, name5, kind6, \
+ name6) name0, name1, name2, name3, name4, name5, name6
+#define GMOCK_INTERNAL_LIST_HAS_8_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+ kind2, name2, kind3, name3, kind4, name4, kind5, name5, kind6, name6, \
+ kind7, name7) name0, name1, name2, name3, name4, name5, name6, name7
+#define GMOCK_INTERNAL_LIST_HAS_9_TEMPLATE_PARAMS(kind0, name0, kind1, name1, \
+ kind2, name2, kind3, name3, kind4, name4, kind5, name5, kind6, name6, \
+ kind7, name7, kind8, name8) name0, name1, name2, name3, name4, name5, \
+ name6, name7, name8
+#define GMOCK_INTERNAL_LIST_HAS_10_TEMPLATE_PARAMS(kind0, name0, kind1, \
+ name1, kind2, name2, kind3, name3, kind4, name4, kind5, name5, kind6, \
+ name6, kind7, name7, kind8, name8, kind9, name9) name0, name1, name2, \
+ name3, name4, name5, name6, name7, name8, name9
+
+// Declares the types of value parameters.
+#define GMOCK_INTERNAL_DECL_TYPE_AND_0_VALUE_PARAMS()
+#define GMOCK_INTERNAL_DECL_TYPE_AND_1_VALUE_PARAMS(p0) , typename p0##_type
+#define GMOCK_INTERNAL_DECL_TYPE_AND_2_VALUE_PARAMS(p0, p1) , \
+ typename p0##_type, typename p1##_type
+#define GMOCK_INTERNAL_DECL_TYPE_AND_3_VALUE_PARAMS(p0, p1, p2) , \
+ typename p0##_type, typename p1##_type, typename p2##_type
+#define GMOCK_INTERNAL_DECL_TYPE_AND_4_VALUE_PARAMS(p0, p1, p2, p3) , \
+ typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type
+#define GMOCK_INTERNAL_DECL_TYPE_AND_5_VALUE_PARAMS(p0, p1, p2, p3, p4) , \
+ typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type
+#define GMOCK_INTERNAL_DECL_TYPE_AND_6_VALUE_PARAMS(p0, p1, p2, p3, p4, p5) , \
+ typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type
+#define GMOCK_INTERNAL_DECL_TYPE_AND_7_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, \
+ p6) , typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type
+#define GMOCK_INTERNAL_DECL_TYPE_AND_8_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, \
+ p6, p7) , typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type
+#define GMOCK_INTERNAL_DECL_TYPE_AND_9_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, \
+ p6, p7, p8) , typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type, typename p8##_type
+#define GMOCK_INTERNAL_DECL_TYPE_AND_10_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, \
+ p6, p7, p8, p9) , typename p0##_type, typename p1##_type, \
+ typename p2##_type, typename p3##_type, typename p4##_type, \
+ typename p5##_type, typename p6##_type, typename p7##_type, \
+ typename p8##_type, typename p9##_type
+
+// Initializes the value parameters.
+#define GMOCK_INTERNAL_INIT_AND_0_VALUE_PARAMS()\
+ ()
+#define GMOCK_INTERNAL_INIT_AND_1_VALUE_PARAMS(p0)\
+ (p0##_type gmock_p0) : p0(gmock_p0)
+#define GMOCK_INTERNAL_INIT_AND_2_VALUE_PARAMS(p0, p1)\
+ (p0##_type gmock_p0, p1##_type gmock_p1) : p0(gmock_p0), p1(gmock_p1)
+#define GMOCK_INTERNAL_INIT_AND_3_VALUE_PARAMS(p0, p1, p2)\
+ (p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2)
+#define GMOCK_INTERNAL_INIT_AND_4_VALUE_PARAMS(p0, p1, p2, p3)\
+ (p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3)
+#define GMOCK_INTERNAL_INIT_AND_5_VALUE_PARAMS(p0, p1, p2, p3, p4)\
+ (p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4) : p0(gmock_p0), p1(gmock_p1), \
+ p2(gmock_p2), p3(gmock_p3), p4(gmock_p4)
+#define GMOCK_INTERNAL_INIT_AND_6_VALUE_PARAMS(p0, p1, p2, p3, p4, p5)\
+ (p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4, \
+ p5##_type gmock_p5) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3), p4(gmock_p4), p5(gmock_p5)
+#define GMOCK_INTERNAL_INIT_AND_7_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6)\
+ (p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+ p6##_type gmock_p6) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6)
+#define GMOCK_INTERNAL_INIT_AND_8_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, p7)\
+ (p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+ p6##_type gmock_p6, p7##_type gmock_p7) : p0(gmock_p0), p1(gmock_p1), \
+ p2(gmock_p2), p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), \
+ p7(gmock_p7)
+#define GMOCK_INTERNAL_INIT_AND_9_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+ p7, p8)\
+ (p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+ p6##_type gmock_p6, p7##_type gmock_p7, \
+ p8##_type gmock_p8) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), p7(gmock_p7), \
+ p8(gmock_p8)
+#define GMOCK_INTERNAL_INIT_AND_10_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+ p7, p8, p9)\
+ (p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+ p6##_type gmock_p6, p7##_type gmock_p7, p8##_type gmock_p8, \
+ p9##_type gmock_p9) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), p7(gmock_p7), \
+ p8(gmock_p8), p9(gmock_p9)
+
+// Declares the fields for storing the value parameters.
+#define GMOCK_INTERNAL_DEFN_AND_0_VALUE_PARAMS()
+#define GMOCK_INTERNAL_DEFN_AND_1_VALUE_PARAMS(p0) p0##_type p0;
+#define GMOCK_INTERNAL_DEFN_AND_2_VALUE_PARAMS(p0, p1) p0##_type p0; \
+ p1##_type p1;
+#define GMOCK_INTERNAL_DEFN_AND_3_VALUE_PARAMS(p0, p1, p2) p0##_type p0; \
+ p1##_type p1; p2##_type p2;
+#define GMOCK_INTERNAL_DEFN_AND_4_VALUE_PARAMS(p0, p1, p2, p3) p0##_type p0; \
+ p1##_type p1; p2##_type p2; p3##_type p3;
+#define GMOCK_INTERNAL_DEFN_AND_5_VALUE_PARAMS(p0, p1, p2, p3, \
+ p4) p0##_type p0; p1##_type p1; p2##_type p2; p3##_type p3; p4##_type p4;
+#define GMOCK_INTERNAL_DEFN_AND_6_VALUE_PARAMS(p0, p1, p2, p3, p4, \
+ p5) p0##_type p0; p1##_type p1; p2##_type p2; p3##_type p3; p4##_type p4; \
+ p5##_type p5;
+#define GMOCK_INTERNAL_DEFN_AND_7_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, \
+ p6) p0##_type p0; p1##_type p1; p2##_type p2; p3##_type p3; p4##_type p4; \
+ p5##_type p5; p6##_type p6;
+#define GMOCK_INTERNAL_DEFN_AND_8_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+ p7) p0##_type p0; p1##_type p1; p2##_type p2; p3##_type p3; p4##_type p4; \
+ p5##_type p5; p6##_type p6; p7##_type p7;
+#define GMOCK_INTERNAL_DEFN_AND_9_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+ p7, p8) p0##_type p0; p1##_type p1; p2##_type p2; p3##_type p3; \
+ p4##_type p4; p5##_type p5; p6##_type p6; p7##_type p7; p8##_type p8;
+#define GMOCK_INTERNAL_DEFN_AND_10_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+ p7, p8, p9) p0##_type p0; p1##_type p1; p2##_type p2; p3##_type p3; \
+ p4##_type p4; p5##_type p5; p6##_type p6; p7##_type p7; p8##_type p8; \
+ p9##_type p9;
+
+// Lists the value parameters.
+#define GMOCK_INTERNAL_LIST_AND_0_VALUE_PARAMS()
+#define GMOCK_INTERNAL_LIST_AND_1_VALUE_PARAMS(p0) p0
+#define GMOCK_INTERNAL_LIST_AND_2_VALUE_PARAMS(p0, p1) p0, p1
+#define GMOCK_INTERNAL_LIST_AND_3_VALUE_PARAMS(p0, p1, p2) p0, p1, p2
+#define GMOCK_INTERNAL_LIST_AND_4_VALUE_PARAMS(p0, p1, p2, p3) p0, p1, p2, p3
+#define GMOCK_INTERNAL_LIST_AND_5_VALUE_PARAMS(p0, p1, p2, p3, p4) p0, p1, \
+ p2, p3, p4
+#define GMOCK_INTERNAL_LIST_AND_6_VALUE_PARAMS(p0, p1, p2, p3, p4, p5) p0, \
+ p1, p2, p3, p4, p5
+#define GMOCK_INTERNAL_LIST_AND_7_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, \
+ p6) p0, p1, p2, p3, p4, p5, p6
+#define GMOCK_INTERNAL_LIST_AND_8_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+ p7) p0, p1, p2, p3, p4, p5, p6, p7
+#define GMOCK_INTERNAL_LIST_AND_9_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+ p7, p8) p0, p1, p2, p3, p4, p5, p6, p7, p8
+#define GMOCK_INTERNAL_LIST_AND_10_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+ p7, p8, p9) p0, p1, p2, p3, p4, p5, p6, p7, p8, p9
+
+// Lists the value parameter types.
+#define GMOCK_INTERNAL_LIST_TYPE_AND_0_VALUE_PARAMS()
+#define GMOCK_INTERNAL_LIST_TYPE_AND_1_VALUE_PARAMS(p0) , p0##_type
+#define GMOCK_INTERNAL_LIST_TYPE_AND_2_VALUE_PARAMS(p0, p1) , p0##_type, \
+ p1##_type
+#define GMOCK_INTERNAL_LIST_TYPE_AND_3_VALUE_PARAMS(p0, p1, p2) , p0##_type, \
+ p1##_type, p2##_type
+#define GMOCK_INTERNAL_LIST_TYPE_AND_4_VALUE_PARAMS(p0, p1, p2, p3) , \
+ p0##_type, p1##_type, p2##_type, p3##_type
+#define GMOCK_INTERNAL_LIST_TYPE_AND_5_VALUE_PARAMS(p0, p1, p2, p3, p4) , \
+ p0##_type, p1##_type, p2##_type, p3##_type, p4##_type
+#define GMOCK_INTERNAL_LIST_TYPE_AND_6_VALUE_PARAMS(p0, p1, p2, p3, p4, p5) , \
+ p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, p5##_type
+#define GMOCK_INTERNAL_LIST_TYPE_AND_7_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, \
+ p6) , p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, p5##_type, \
+ p6##_type
+#define GMOCK_INTERNAL_LIST_TYPE_AND_8_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, \
+ p6, p7) , p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+ p5##_type, p6##_type, p7##_type
+#define GMOCK_INTERNAL_LIST_TYPE_AND_9_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, \
+ p6, p7, p8) , p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+ p5##_type, p6##_type, p7##_type, p8##_type
+#define GMOCK_INTERNAL_LIST_TYPE_AND_10_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, \
+ p6, p7, p8, p9) , p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+ p5##_type, p6##_type, p7##_type, p8##_type, p9##_type
+
+// Declares the value parameters.
+#define GMOCK_INTERNAL_DECL_AND_0_VALUE_PARAMS()
+#define GMOCK_INTERNAL_DECL_AND_1_VALUE_PARAMS(p0) p0##_type p0
+#define GMOCK_INTERNAL_DECL_AND_2_VALUE_PARAMS(p0, p1) p0##_type p0, \
+ p1##_type p1
+#define GMOCK_INTERNAL_DECL_AND_3_VALUE_PARAMS(p0, p1, p2) p0##_type p0, \
+ p1##_type p1, p2##_type p2
+#define GMOCK_INTERNAL_DECL_AND_4_VALUE_PARAMS(p0, p1, p2, p3) p0##_type p0, \
+ p1##_type p1, p2##_type p2, p3##_type p3
+#define GMOCK_INTERNAL_DECL_AND_5_VALUE_PARAMS(p0, p1, p2, p3, \
+ p4) p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, p4##_type p4
+#define GMOCK_INTERNAL_DECL_AND_6_VALUE_PARAMS(p0, p1, p2, p3, p4, \
+ p5) p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, p4##_type p4, \
+ p5##_type p5
+#define GMOCK_INTERNAL_DECL_AND_7_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, \
+ p6) p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, p4##_type p4, \
+ p5##_type p5, p6##_type p6
+#define GMOCK_INTERNAL_DECL_AND_8_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+ p7) p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, p4##_type p4, \
+ p5##_type p5, p6##_type p6, p7##_type p7
+#define GMOCK_INTERNAL_DECL_AND_9_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+ p7, p8) p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, \
+ p4##_type p4, p5##_type p5, p6##_type p6, p7##_type p7, p8##_type p8
+#define GMOCK_INTERNAL_DECL_AND_10_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+ p7, p8, p9) p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, \
+ p4##_type p4, p5##_type p5, p6##_type p6, p7##_type p7, p8##_type p8, \
+ p9##_type p9
+
+// The suffix of the class template implementing the action template.
+#define GMOCK_INTERNAL_COUNT_AND_0_VALUE_PARAMS()
+#define GMOCK_INTERNAL_COUNT_AND_1_VALUE_PARAMS(p0) P
+#define GMOCK_INTERNAL_COUNT_AND_2_VALUE_PARAMS(p0, p1) P2
+#define GMOCK_INTERNAL_COUNT_AND_3_VALUE_PARAMS(p0, p1, p2) P3
+#define GMOCK_INTERNAL_COUNT_AND_4_VALUE_PARAMS(p0, p1, p2, p3) P4
+#define GMOCK_INTERNAL_COUNT_AND_5_VALUE_PARAMS(p0, p1, p2, p3, p4) P5
+#define GMOCK_INTERNAL_COUNT_AND_6_VALUE_PARAMS(p0, p1, p2, p3, p4, p5) P6
+#define GMOCK_INTERNAL_COUNT_AND_7_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6) P7
+#define GMOCK_INTERNAL_COUNT_AND_8_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+ p7) P8
+#define GMOCK_INTERNAL_COUNT_AND_9_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+ p7, p8) P9
+#define GMOCK_INTERNAL_COUNT_AND_10_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, \
+ p7, p8, p9) P10
+
+// The name of the class template implementing the action template.
+#define GMOCK_ACTION_CLASS_(name, value_params)\
+ GTEST_CONCAT_TOKEN_(name##Action, GMOCK_INTERNAL_COUNT_##value_params)
+
+#define ACTION_TEMPLATE(name, template_params, value_params)\
+ template <GMOCK_INTERNAL_DECL_##template_params\
+ GMOCK_INTERNAL_DECL_TYPE_##value_params>\
+ class GMOCK_ACTION_CLASS_(name, value_params) {\
+ public:\
+ GMOCK_ACTION_CLASS_(name, value_params)\
+ GMOCK_INTERNAL_INIT_##value_params {}\
+ template <typename F>\
+ class gmock_Impl : public ::testing::ActionInterface<F> {\
+ public:\
+ typedef F function_type;\
+ typedef typename ::testing::internal::Function<F>::Result return_type;\
+ typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+ args_type;\
+ explicit gmock_Impl GMOCK_INTERNAL_INIT_##value_params {}\
+ virtual return_type Perform(const args_type& args) {\
+ return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+ Perform(this, args);\
+ }\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+ arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+ arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+ arg9_type arg9) const;\
+ GMOCK_INTERNAL_DEFN_##value_params\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename F> operator ::testing::Action<F>() const {\
+ return ::testing::Action<F>(\
+ new gmock_Impl<F>(GMOCK_INTERNAL_LIST_##value_params));\
+ }\
+ GMOCK_INTERNAL_DEFN_##value_params\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(GMOCK_ACTION_CLASS_(name, value_params));\
+ };\
+ template <GMOCK_INTERNAL_DECL_##template_params\
+ GMOCK_INTERNAL_DECL_TYPE_##value_params>\
+ inline GMOCK_ACTION_CLASS_(name, value_params)<\
+ GMOCK_INTERNAL_LIST_##template_params\
+ GMOCK_INTERNAL_LIST_TYPE_##value_params> name(\
+ GMOCK_INTERNAL_DECL_##value_params) {\
+ return GMOCK_ACTION_CLASS_(name, value_params)<\
+ GMOCK_INTERNAL_LIST_##template_params\
+ GMOCK_INTERNAL_LIST_TYPE_##value_params>(\
+ GMOCK_INTERNAL_LIST_##value_params);\
+ }\
+ template <GMOCK_INTERNAL_DECL_##template_params\
+ GMOCK_INTERNAL_DECL_TYPE_##value_params>\
+ template <typename F>\
+ template <typename arg0_type, typename arg1_type, typename arg2_type,\
+ typename arg3_type, typename arg4_type, typename arg5_type,\
+ typename arg6_type, typename arg7_type, typename arg8_type,\
+ typename arg9_type>\
+ typename ::testing::internal::Function<F>::Result\
+ GMOCK_ACTION_CLASS_(name, value_params)<\
+ GMOCK_INTERNAL_LIST_##template_params\
+ GMOCK_INTERNAL_LIST_TYPE_##value_params>::gmock_Impl<F>::\
+ gmock_PerformImpl(\
+ GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+#define ACTION(name)\
+ class name##Action {\
+ public:\
+ name##Action() {}\
+ template <typename F>\
+ class gmock_Impl : public ::testing::ActionInterface<F> {\
+ public:\
+ typedef F function_type;\
+ typedef typename ::testing::internal::Function<F>::Result return_type;\
+ typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+ args_type;\
+ gmock_Impl() {}\
+ virtual return_type Perform(const args_type& args) {\
+ return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+ Perform(this, args);\
+ }\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+ arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+ arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+ arg9_type arg9) const;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename F> operator ::testing::Action<F>() const {\
+ return ::testing::Action<F>(new gmock_Impl<F>());\
+ }\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##Action);\
+ };\
+ inline name##Action name() {\
+ return name##Action();\
+ }\
+ template <typename F>\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ typename ::testing::internal::Function<F>::Result\
+ name##Action::gmock_Impl<F>::gmock_PerformImpl(\
+ GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+#define ACTION_P(name, p0)\
+ template <typename p0##_type>\
+ class name##ActionP {\
+ public:\
+ name##ActionP(p0##_type gmock_p0) : p0(gmock_p0) {}\
+ template <typename F>\
+ class gmock_Impl : public ::testing::ActionInterface<F> {\
+ public:\
+ typedef F function_type;\
+ typedef typename ::testing::internal::Function<F>::Result return_type;\
+ typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+ args_type;\
+ explicit gmock_Impl(p0##_type gmock_p0) : p0(gmock_p0) {}\
+ virtual return_type Perform(const args_type& args) {\
+ return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+ Perform(this, args);\
+ }\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+ arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+ arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+ arg9_type arg9) const;\
+ p0##_type p0;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename F> operator ::testing::Action<F>() const {\
+ return ::testing::Action<F>(new gmock_Impl<F>(p0));\
+ }\
+ p0##_type p0;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##ActionP);\
+ };\
+ template <typename p0##_type>\
+ inline name##ActionP<p0##_type> name(p0##_type p0) {\
+ return name##ActionP<p0##_type>(p0);\
+ }\
+ template <typename p0##_type>\
+ template <typename F>\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ typename ::testing::internal::Function<F>::Result\
+ name##ActionP<p0##_type>::gmock_Impl<F>::gmock_PerformImpl(\
+ GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+#define ACTION_P2(name, p0, p1)\
+ template <typename p0##_type, typename p1##_type>\
+ class name##ActionP2 {\
+ public:\
+ name##ActionP2(p0##_type gmock_p0, p1##_type gmock_p1) : p0(gmock_p0), \
+ p1(gmock_p1) {}\
+ template <typename F>\
+ class gmock_Impl : public ::testing::ActionInterface<F> {\
+ public:\
+ typedef F function_type;\
+ typedef typename ::testing::internal::Function<F>::Result return_type;\
+ typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+ args_type;\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1) : p0(gmock_p0), \
+ p1(gmock_p1) {}\
+ virtual return_type Perform(const args_type& args) {\
+ return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+ Perform(this, args);\
+ }\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+ arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+ arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+ arg9_type arg9) const;\
+ p0##_type p0;\
+ p1##_type p1;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename F> operator ::testing::Action<F>() const {\
+ return ::testing::Action<F>(new gmock_Impl<F>(p0, p1));\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##ActionP2);\
+ };\
+ template <typename p0##_type, typename p1##_type>\
+ inline name##ActionP2<p0##_type, p1##_type> name(p0##_type p0, \
+ p1##_type p1) {\
+ return name##ActionP2<p0##_type, p1##_type>(p0, p1);\
+ }\
+ template <typename p0##_type, typename p1##_type>\
+ template <typename F>\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ typename ::testing::internal::Function<F>::Result\
+ name##ActionP2<p0##_type, p1##_type>::gmock_Impl<F>::gmock_PerformImpl(\
+ GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+#define ACTION_P3(name, p0, p1, p2)\
+ template <typename p0##_type, typename p1##_type, typename p2##_type>\
+ class name##ActionP3 {\
+ public:\
+ name##ActionP3(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2) {}\
+ template <typename F>\
+ class gmock_Impl : public ::testing::ActionInterface<F> {\
+ public:\
+ typedef F function_type;\
+ typedef typename ::testing::internal::Function<F>::Result return_type;\
+ typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+ args_type;\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2) {}\
+ virtual return_type Perform(const args_type& args) {\
+ return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+ Perform(this, args);\
+ }\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+ arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+ arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+ arg9_type arg9) const;\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename F> operator ::testing::Action<F>() const {\
+ return ::testing::Action<F>(new gmock_Impl<F>(p0, p1, p2));\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##ActionP3);\
+ };\
+ template <typename p0##_type, typename p1##_type, typename p2##_type>\
+ inline name##ActionP3<p0##_type, p1##_type, p2##_type> name(p0##_type p0, \
+ p1##_type p1, p2##_type p2) {\
+ return name##ActionP3<p0##_type, p1##_type, p2##_type>(p0, p1, p2);\
+ }\
+ template <typename p0##_type, typename p1##_type, typename p2##_type>\
+ template <typename F>\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ typename ::testing::internal::Function<F>::Result\
+ name##ActionP3<p0##_type, p1##_type, \
+ p2##_type>::gmock_Impl<F>::gmock_PerformImpl(\
+ GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+#define ACTION_P4(name, p0, p1, p2, p3)\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type>\
+ class name##ActionP4 {\
+ public:\
+ name##ActionP4(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2, p3##_type gmock_p3) : p0(gmock_p0), p1(gmock_p1), \
+ p2(gmock_p2), p3(gmock_p3) {}\
+ template <typename F>\
+ class gmock_Impl : public ::testing::ActionInterface<F> {\
+ public:\
+ typedef F function_type;\
+ typedef typename ::testing::internal::Function<F>::Result return_type;\
+ typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+ args_type;\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3) {}\
+ virtual return_type Perform(const args_type& args) {\
+ return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+ Perform(this, args);\
+ }\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+ arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+ arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+ arg9_type arg9) const;\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename F> operator ::testing::Action<F>() const {\
+ return ::testing::Action<F>(new gmock_Impl<F>(p0, p1, p2, p3));\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##ActionP4);\
+ };\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type>\
+ inline name##ActionP4<p0##_type, p1##_type, p2##_type, \
+ p3##_type> name(p0##_type p0, p1##_type p1, p2##_type p2, \
+ p3##_type p3) {\
+ return name##ActionP4<p0##_type, p1##_type, p2##_type, p3##_type>(p0, p1, \
+ p2, p3);\
+ }\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type>\
+ template <typename F>\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ typename ::testing::internal::Function<F>::Result\
+ name##ActionP4<p0##_type, p1##_type, p2##_type, \
+ p3##_type>::gmock_Impl<F>::gmock_PerformImpl(\
+ GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+#define ACTION_P5(name, p0, p1, p2, p3, p4)\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type>\
+ class name##ActionP5 {\
+ public:\
+ name##ActionP5(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2, p3##_type gmock_p3, \
+ p4##_type gmock_p4) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3), p4(gmock_p4) {}\
+ template <typename F>\
+ class gmock_Impl : public ::testing::ActionInterface<F> {\
+ public:\
+ typedef F function_type;\
+ typedef typename ::testing::internal::Function<F>::Result return_type;\
+ typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+ args_type;\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4) : p0(gmock_p0), \
+ p1(gmock_p1), p2(gmock_p2), p3(gmock_p3), p4(gmock_p4) {}\
+ virtual return_type Perform(const args_type& args) {\
+ return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+ Perform(this, args);\
+ }\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+ arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+ arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+ arg9_type arg9) const;\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename F> operator ::testing::Action<F>() const {\
+ return ::testing::Action<F>(new gmock_Impl<F>(p0, p1, p2, p3, p4));\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##ActionP5);\
+ };\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type>\
+ inline name##ActionP5<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type> name(p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, \
+ p4##_type p4) {\
+ return name##ActionP5<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type>(p0, p1, p2, p3, p4);\
+ }\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type>\
+ template <typename F>\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ typename ::testing::internal::Function<F>::Result\
+ name##ActionP5<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type>::gmock_Impl<F>::gmock_PerformImpl(\
+ GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+#define ACTION_P6(name, p0, p1, p2, p3, p4, p5)\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type>\
+ class name##ActionP6 {\
+ public:\
+ name##ActionP6(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2, p3##_type gmock_p3, p4##_type gmock_p4, \
+ p5##_type gmock_p5) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3), p4(gmock_p4), p5(gmock_p5) {}\
+ template <typename F>\
+ class gmock_Impl : public ::testing::ActionInterface<F> {\
+ public:\
+ typedef F function_type;\
+ typedef typename ::testing::internal::Function<F>::Result return_type;\
+ typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+ args_type;\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4, \
+ p5##_type gmock_p5) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3), p4(gmock_p4), p5(gmock_p5) {}\
+ virtual return_type Perform(const args_type& args) {\
+ return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+ Perform(this, args);\
+ }\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+ arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+ arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+ arg9_type arg9) const;\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename F> operator ::testing::Action<F>() const {\
+ return ::testing::Action<F>(new gmock_Impl<F>(p0, p1, p2, p3, p4, p5));\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##ActionP6);\
+ };\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type>\
+ inline name##ActionP6<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type> name(p0##_type p0, p1##_type p1, p2##_type p2, \
+ p3##_type p3, p4##_type p4, p5##_type p5) {\
+ return name##ActionP6<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type>(p0, p1, p2, p3, p4, p5);\
+ }\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type>\
+ template <typename F>\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ typename ::testing::internal::Function<F>::Result\
+ name##ActionP6<p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+ p5##_type>::gmock_Impl<F>::gmock_PerformImpl(\
+ GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+#define ACTION_P7(name, p0, p1, p2, p3, p4, p5, p6)\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type>\
+ class name##ActionP7 {\
+ public:\
+ name##ActionP7(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2, p3##_type gmock_p3, p4##_type gmock_p4, \
+ p5##_type gmock_p5, p6##_type gmock_p6) : p0(gmock_p0), p1(gmock_p1), \
+ p2(gmock_p2), p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), \
+ p6(gmock_p6) {}\
+ template <typename F>\
+ class gmock_Impl : public ::testing::ActionInterface<F> {\
+ public:\
+ typedef F function_type;\
+ typedef typename ::testing::internal::Function<F>::Result return_type;\
+ typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+ args_type;\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+ p6##_type gmock_p6) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6) {}\
+ virtual return_type Perform(const args_type& args) {\
+ return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+ Perform(this, args);\
+ }\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+ arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+ arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+ arg9_type arg9) const;\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ p6##_type p6;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename F> operator ::testing::Action<F>() const {\
+ return ::testing::Action<F>(new gmock_Impl<F>(p0, p1, p2, p3, p4, p5, \
+ p6));\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ p6##_type p6;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##ActionP7);\
+ };\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type>\
+ inline name##ActionP7<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type> name(p0##_type p0, p1##_type p1, \
+ p2##_type p2, p3##_type p3, p4##_type p4, p5##_type p5, \
+ p6##_type p6) {\
+ return name##ActionP7<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type>(p0, p1, p2, p3, p4, p5, p6);\
+ }\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type>\
+ template <typename F>\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ typename ::testing::internal::Function<F>::Result\
+ name##ActionP7<p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+ p5##_type, p6##_type>::gmock_Impl<F>::gmock_PerformImpl(\
+ GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+#define ACTION_P8(name, p0, p1, p2, p3, p4, p5, p6, p7)\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type>\
+ class name##ActionP8 {\
+ public:\
+ name##ActionP8(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2, p3##_type gmock_p3, p4##_type gmock_p4, \
+ p5##_type gmock_p5, p6##_type gmock_p6, \
+ p7##_type gmock_p7) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), \
+ p7(gmock_p7) {}\
+ template <typename F>\
+ class gmock_Impl : public ::testing::ActionInterface<F> {\
+ public:\
+ typedef F function_type;\
+ typedef typename ::testing::internal::Function<F>::Result return_type;\
+ typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+ args_type;\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+ p6##_type gmock_p6, p7##_type gmock_p7) : p0(gmock_p0), \
+ p1(gmock_p1), p2(gmock_p2), p3(gmock_p3), p4(gmock_p4), \
+ p5(gmock_p5), p6(gmock_p6), p7(gmock_p7) {}\
+ virtual return_type Perform(const args_type& args) {\
+ return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+ Perform(this, args);\
+ }\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+ arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+ arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+ arg9_type arg9) const;\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ p6##_type p6;\
+ p7##_type p7;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename F> operator ::testing::Action<F>() const {\
+ return ::testing::Action<F>(new gmock_Impl<F>(p0, p1, p2, p3, p4, p5, \
+ p6, p7));\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ p6##_type p6;\
+ p7##_type p7;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##ActionP8);\
+ };\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type>\
+ inline name##ActionP8<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type, p7##_type> name(p0##_type p0, \
+ p1##_type p1, p2##_type p2, p3##_type p3, p4##_type p4, p5##_type p5, \
+ p6##_type p6, p7##_type p7) {\
+ return name##ActionP8<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type, p7##_type>(p0, p1, p2, p3, p4, p5, \
+ p6, p7);\
+ }\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type>\
+ template <typename F>\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ typename ::testing::internal::Function<F>::Result\
+ name##ActionP8<p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+ p5##_type, p6##_type, \
+ p7##_type>::gmock_Impl<F>::gmock_PerformImpl(\
+ GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+#define ACTION_P9(name, p0, p1, p2, p3, p4, p5, p6, p7, p8)\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type, typename p8##_type>\
+ class name##ActionP9 {\
+ public:\
+ name##ActionP9(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2, p3##_type gmock_p3, p4##_type gmock_p4, \
+ p5##_type gmock_p5, p6##_type gmock_p6, p7##_type gmock_p7, \
+ p8##_type gmock_p8) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), p7(gmock_p7), \
+ p8(gmock_p8) {}\
+ template <typename F>\
+ class gmock_Impl : public ::testing::ActionInterface<F> {\
+ public:\
+ typedef F function_type;\
+ typedef typename ::testing::internal::Function<F>::Result return_type;\
+ typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+ args_type;\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+ p6##_type gmock_p6, p7##_type gmock_p7, \
+ p8##_type gmock_p8) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), \
+ p7(gmock_p7), p8(gmock_p8) {}\
+ virtual return_type Perform(const args_type& args) {\
+ return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+ Perform(this, args);\
+ }\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+ arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+ arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+ arg9_type arg9) const;\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ p6##_type p6;\
+ p7##_type p7;\
+ p8##_type p8;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename F> operator ::testing::Action<F>() const {\
+ return ::testing::Action<F>(new gmock_Impl<F>(p0, p1, p2, p3, p4, p5, \
+ p6, p7, p8));\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ p6##_type p6;\
+ p7##_type p7;\
+ p8##_type p8;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##ActionP9);\
+ };\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type, typename p8##_type>\
+ inline name##ActionP9<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type, p7##_type, \
+ p8##_type> name(p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, \
+ p4##_type p4, p5##_type p5, p6##_type p6, p7##_type p7, \
+ p8##_type p8) {\
+ return name##ActionP9<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type, p7##_type, p8##_type>(p0, p1, p2, \
+ p3, p4, p5, p6, p7, p8);\
+ }\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type, typename p8##_type>\
+ template <typename F>\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ typename ::testing::internal::Function<F>::Result\
+ name##ActionP9<p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+ p5##_type, p6##_type, p7##_type, \
+ p8##_type>::gmock_Impl<F>::gmock_PerformImpl(\
+ GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+#define ACTION_P10(name, p0, p1, p2, p3, p4, p5, p6, p7, p8, p9)\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type, typename p8##_type, \
+ typename p9##_type>\
+ class name##ActionP10 {\
+ public:\
+ name##ActionP10(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2, p3##_type gmock_p3, p4##_type gmock_p4, \
+ p5##_type gmock_p5, p6##_type gmock_p6, p7##_type gmock_p7, \
+ p8##_type gmock_p8, p9##_type gmock_p9) : p0(gmock_p0), p1(gmock_p1), \
+ p2(gmock_p2), p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), \
+ p7(gmock_p7), p8(gmock_p8), p9(gmock_p9) {}\
+ template <typename F>\
+ class gmock_Impl : public ::testing::ActionInterface<F> {\
+ public:\
+ typedef F function_type;\
+ typedef typename ::testing::internal::Function<F>::Result return_type;\
+ typedef typename ::testing::internal::Function<F>::ArgumentTuple\
+ args_type;\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+ p6##_type gmock_p6, p7##_type gmock_p7, p8##_type gmock_p8, \
+ p9##_type gmock_p9) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), \
+ p7(gmock_p7), p8(gmock_p8), p9(gmock_p9) {}\
+ virtual return_type Perform(const args_type& args) {\
+ return ::testing::internal::ActionHelper<return_type, gmock_Impl>::\
+ Perform(this, args);\
+ }\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ return_type gmock_PerformImpl(const args_type& args, arg0_type arg0, \
+ arg1_type arg1, arg2_type arg2, arg3_type arg3, arg4_type arg4, \
+ arg5_type arg5, arg6_type arg6, arg7_type arg7, arg8_type arg8, \
+ arg9_type arg9) const;\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ p6##_type p6;\
+ p7##_type p7;\
+ p8##_type p8;\
+ p9##_type p9;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename F> operator ::testing::Action<F>() const {\
+ return ::testing::Action<F>(new gmock_Impl<F>(p0, p1, p2, p3, p4, p5, \
+ p6, p7, p8, p9));\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ p6##_type p6;\
+ p7##_type p7;\
+ p8##_type p8;\
+ p9##_type p9;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##ActionP10);\
+ };\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type, typename p8##_type, \
+ typename p9##_type>\
+ inline name##ActionP10<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type, p7##_type, p8##_type, \
+ p9##_type> name(p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, \
+ p4##_type p4, p5##_type p5, p6##_type p6, p7##_type p7, p8##_type p8, \
+ p9##_type p9) {\
+ return name##ActionP10<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type, p7##_type, p8##_type, p9##_type>(p0, \
+ p1, p2, p3, p4, p5, p6, p7, p8, p9);\
+ }\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type, typename p8##_type, \
+ typename p9##_type>\
+ template <typename F>\
+ template <typename arg0_type, typename arg1_type, typename arg2_type, \
+ typename arg3_type, typename arg4_type, typename arg5_type, \
+ typename arg6_type, typename arg7_type, typename arg8_type, \
+ typename arg9_type>\
+ typename ::testing::internal::Function<F>::Result\
+ name##ActionP10<p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+ p5##_type, p6##_type, p7##_type, p8##_type, \
+ p9##_type>::gmock_Impl<F>::gmock_PerformImpl(\
+ GMOCK_ACTION_ARG_TYPES_AND_NAMES_UNUSED_) const
+
+// TODO(wan@google.com): move the following to a different .h file
+// such that we don't have to run 'pump' every time the code is
+// updated.
+namespace testing {
+
+// The ACTION*() macros trigger warning C4100 (unreferenced formal
+// parameter) in MSVC with -W4. Unfortunately they cannot be fixed in
+// the macro definition, as the warnings are generated when the macro
+// is expanded and macro expansion cannot contain #pragma. Therefore
+// we suppress them here.
+#ifdef _MSC_VER
+# pragma warning(push)
+# pragma warning(disable:4100)
+#endif
+
+// Various overloads for InvokeArgument<N>().
+//
+// The InvokeArgument<N>(a1, a2, ..., a_k) action invokes the N-th
+// (0-based) argument, which must be a k-ary callable, of the mock
+// function, with arguments a1, a2, ..., a_k.
+//
+// Notes:
+//
+// 1. The arguments are passed by value by default. If you need to
+// pass an argument by reference, wrap it inside ByRef(). For
+// example,
+//
+// InvokeArgument<1>(5, string("Hello"), ByRef(foo))
+//
+// passes 5 and string("Hello") by value, and passes foo by
+// reference.
+//
+// 2. If the callable takes an argument by reference but ByRef() is
+// not used, it will receive the reference to a copy of the value,
+// instead of the original value. For example, when the 0-th
+// argument of the mock function takes a const string&, the action
+//
+// InvokeArgument<0>(string("Hello"))
+//
+// makes a copy of the temporary string("Hello") object and passes a
+// reference of the copy, instead of the original temporary object,
+// to the callable. This makes it easy for a user to define an
+// InvokeArgument action from temporary values and have it performed
+// later.
+
+ACTION_TEMPLATE(InvokeArgument,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_0_VALUE_PARAMS()) {
+ return internal::CallableHelper<return_type>::Call(
+ ::std::tr1::get<k>(args));
+}
+
+ACTION_TEMPLATE(InvokeArgument,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_1_VALUE_PARAMS(p0)) {
+ return internal::CallableHelper<return_type>::Call(
+ ::std::tr1::get<k>(args), p0);
+}
+
+ACTION_TEMPLATE(InvokeArgument,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_2_VALUE_PARAMS(p0, p1)) {
+ return internal::CallableHelper<return_type>::Call(
+ ::std::tr1::get<k>(args), p0, p1);
+}
+
+ACTION_TEMPLATE(InvokeArgument,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_3_VALUE_PARAMS(p0, p1, p2)) {
+ return internal::CallableHelper<return_type>::Call(
+ ::std::tr1::get<k>(args), p0, p1, p2);
+}
+
+ACTION_TEMPLATE(InvokeArgument,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_4_VALUE_PARAMS(p0, p1, p2, p3)) {
+ return internal::CallableHelper<return_type>::Call(
+ ::std::tr1::get<k>(args), p0, p1, p2, p3);
+}
+
+ACTION_TEMPLATE(InvokeArgument,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_5_VALUE_PARAMS(p0, p1, p2, p3, p4)) {
+ return internal::CallableHelper<return_type>::Call(
+ ::std::tr1::get<k>(args), p0, p1, p2, p3, p4);
+}
+
+ACTION_TEMPLATE(InvokeArgument,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_6_VALUE_PARAMS(p0, p1, p2, p3, p4, p5)) {
+ return internal::CallableHelper<return_type>::Call(
+ ::std::tr1::get<k>(args), p0, p1, p2, p3, p4, p5);
+}
+
+ACTION_TEMPLATE(InvokeArgument,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_7_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6)) {
+ return internal::CallableHelper<return_type>::Call(
+ ::std::tr1::get<k>(args), p0, p1, p2, p3, p4, p5, p6);
+}
+
+ACTION_TEMPLATE(InvokeArgument,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_8_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, p7)) {
+ return internal::CallableHelper<return_type>::Call(
+ ::std::tr1::get<k>(args), p0, p1, p2, p3, p4, p5, p6, p7);
+}
+
+ACTION_TEMPLATE(InvokeArgument,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_9_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, p7, p8)) {
+ return internal::CallableHelper<return_type>::Call(
+ ::std::tr1::get<k>(args), p0, p1, p2, p3, p4, p5, p6, p7, p8);
+}
+
+ACTION_TEMPLATE(InvokeArgument,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_10_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, p7, p8, p9)) {
+ return internal::CallableHelper<return_type>::Call(
+ ::std::tr1::get<k>(args), p0, p1, p2, p3, p4, p5, p6, p7, p8, p9);
+}
+
+// Various overloads for ReturnNew<T>().
+//
+// The ReturnNew<T>(a1, a2, ..., a_k) action returns a pointer to a new
+// instance of type T, constructed on the heap with constructor arguments
+// a1, a2, ..., and a_k. The caller assumes ownership of the returned value.
+ACTION_TEMPLATE(ReturnNew,
+ HAS_1_TEMPLATE_PARAMS(typename, T),
+ AND_0_VALUE_PARAMS()) {
+ return new T();
+}
+
+ACTION_TEMPLATE(ReturnNew,
+ HAS_1_TEMPLATE_PARAMS(typename, T),
+ AND_1_VALUE_PARAMS(p0)) {
+ return new T(p0);
+}
+
+ACTION_TEMPLATE(ReturnNew,
+ HAS_1_TEMPLATE_PARAMS(typename, T),
+ AND_2_VALUE_PARAMS(p0, p1)) {
+ return new T(p0, p1);
+}
+
+ACTION_TEMPLATE(ReturnNew,
+ HAS_1_TEMPLATE_PARAMS(typename, T),
+ AND_3_VALUE_PARAMS(p0, p1, p2)) {
+ return new T(p0, p1, p2);
+}
+
+ACTION_TEMPLATE(ReturnNew,
+ HAS_1_TEMPLATE_PARAMS(typename, T),
+ AND_4_VALUE_PARAMS(p0, p1, p2, p3)) {
+ return new T(p0, p1, p2, p3);
+}
+
+ACTION_TEMPLATE(ReturnNew,
+ HAS_1_TEMPLATE_PARAMS(typename, T),
+ AND_5_VALUE_PARAMS(p0, p1, p2, p3, p4)) {
+ return new T(p0, p1, p2, p3, p4);
+}
+
+ACTION_TEMPLATE(ReturnNew,
+ HAS_1_TEMPLATE_PARAMS(typename, T),
+ AND_6_VALUE_PARAMS(p0, p1, p2, p3, p4, p5)) {
+ return new T(p0, p1, p2, p3, p4, p5);
+}
+
+ACTION_TEMPLATE(ReturnNew,
+ HAS_1_TEMPLATE_PARAMS(typename, T),
+ AND_7_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6)) {
+ return new T(p0, p1, p2, p3, p4, p5, p6);
+}
+
+ACTION_TEMPLATE(ReturnNew,
+ HAS_1_TEMPLATE_PARAMS(typename, T),
+ AND_8_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, p7)) {
+ return new T(p0, p1, p2, p3, p4, p5, p6, p7);
+}
+
+ACTION_TEMPLATE(ReturnNew,
+ HAS_1_TEMPLATE_PARAMS(typename, T),
+ AND_9_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, p7, p8)) {
+ return new T(p0, p1, p2, p3, p4, p5, p6, p7, p8);
+}
+
+ACTION_TEMPLATE(ReturnNew,
+ HAS_1_TEMPLATE_PARAMS(typename, T),
+ AND_10_VALUE_PARAMS(p0, p1, p2, p3, p4, p5, p6, p7, p8, p9)) {
+ return new T(p0, p1, p2, p3, p4, p5, p6, p7, p8, p9);
+}
+
+#ifdef _MSC_VER
+# pragma warning(pop)
+#endif
+
+} // namespace testing
+
+#endif // GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_ACTIONS_H_
+// This file was GENERATED by command:
+// pump.py gmock-generated-function-mockers.h.pump
+// DO NOT EDIT BY HAND!!!
+
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements function mockers of various arities.
+
+#ifndef GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_FUNCTION_MOCKERS_H_
+#define GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_FUNCTION_MOCKERS_H_
+
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements the ON_CALL() and EXPECT_CALL() macros.
+//
+// A user can use the ON_CALL() macro to specify the default action of
+// a mock method. The syntax is:
+//
+// ON_CALL(mock_object, Method(argument-matchers))
+// .With(multi-argument-matcher)
+// .WillByDefault(action);
+//
+// where the .With() clause is optional.
+//
+// A user can use the EXPECT_CALL() macro to specify an expectation on
+// a mock method. The syntax is:
+//
+// EXPECT_CALL(mock_object, Method(argument-matchers))
+// .With(multi-argument-matchers)
+// .Times(cardinality)
+// .InSequence(sequences)
+// .After(expectations)
+// .WillOnce(action)
+// .WillRepeatedly(action)
+// .RetiresOnSaturation();
+//
+// where all clauses are optional, and .InSequence()/.After()/
+// .WillOnce() can appear any number of times.
+
+#ifndef GMOCK_INCLUDE_GMOCK_GMOCK_SPEC_BUILDERS_H_
+#define GMOCK_INCLUDE_GMOCK_GMOCK_SPEC_BUILDERS_H_
+
+#include <map>
+#include <set>
+#include <sstream>
+#include <string>
+#include <vector>
+
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements some commonly used argument matchers. More
+// matchers can be defined by the user implementing the
+// MatcherInterface<T> interface if necessary.
+
+#ifndef GMOCK_INCLUDE_GMOCK_GMOCK_MATCHERS_H_
+#define GMOCK_INCLUDE_GMOCK_GMOCK_MATCHERS_H_
+
+#include <algorithm>
+#include <limits>
+#include <ostream> // NOLINT
+#include <sstream>
+#include <string>
+#include <utility>
+#include <vector>
+
+
+namespace testing {
+
+// To implement a matcher Foo for type T, define:
+// 1. a class FooMatcherImpl that implements the
+// MatcherInterface<T> interface, and
+// 2. a factory function that creates a Matcher<T> object from a
+// FooMatcherImpl*.
+//
+// The two-level delegation design makes it possible to allow a user
+// to write "v" instead of "Eq(v)" where a Matcher is expected, which
+// is impossible if we pass matchers by pointers. It also eases
+// ownership management as Matcher objects can now be copied like
+// plain values.
+
+// MatchResultListener is an abstract class. Its << operator can be
+// used by a matcher to explain why a value matches or doesn't match.
+//
+// TODO(wan@google.com): add method
+// bool InterestedInWhy(bool result) const;
+// to indicate whether the listener is interested in why the match
+// result is 'result'.
+class MatchResultListener {
+ public:
+ // Creates a listener object with the given underlying ostream. The
+ // listener does not own the ostream.
+ explicit MatchResultListener(::std::ostream* os) : stream_(os) {}
+ virtual ~MatchResultListener() = 0; // Makes this class abstract.
+
+ // Streams x to the underlying ostream; does nothing if the ostream
+ // is NULL.
+ template <typename T>
+ MatchResultListener& operator<<(const T& x) {
+ if (stream_ != NULL)
+ *stream_ << x;
+ return *this;
+ }
+
+ // Returns the underlying ostream.
+ ::std::ostream* stream() { return stream_; }
+
+ // Returns true iff the listener is interested in an explanation of
+ // the match result. A matcher's MatchAndExplain() method can use
+ // this information to avoid generating the explanation when no one
+ // intends to hear it.
+ bool IsInterested() const { return stream_ != NULL; }
+
+ private:
+ ::std::ostream* const stream_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(MatchResultListener);
+};
+
+inline MatchResultListener::~MatchResultListener() {
+}
+
+// The implementation of a matcher.
+template <typename T>
+class MatcherInterface {
+ public:
+ virtual ~MatcherInterface() {}
+
+ // Returns true iff the matcher matches x; also explains the match
+ // result to 'listener', in the form of a non-restrictive relative
+ // clause ("which ...", "whose ...", etc) that describes x. For
+ // example, the MatchAndExplain() method of the Pointee(...) matcher
+ // should generate an explanation like "which points to ...".
+ //
+ // You should override this method when defining a new matcher.
+ //
+ // It's the responsibility of the caller (Google Mock) to guarantee
+ // that 'listener' is not NULL. This helps to simplify a matcher's
+ // implementation when it doesn't care about the performance, as it
+ // can talk to 'listener' without checking its validity first.
+ // However, in order to implement dummy listeners efficiently,
+ // listener->stream() may be NULL.
+ virtual bool MatchAndExplain(T x, MatchResultListener* listener) const = 0;
+
+ // Describes this matcher to an ostream. The function should print
+ // a verb phrase that describes the property a value matching this
+ // matcher should have. The subject of the verb phrase is the value
+ // being matched. For example, the DescribeTo() method of the Gt(7)
+ // matcher prints "is greater than 7".
+ virtual void DescribeTo(::std::ostream* os) const = 0;
+
+ // Describes the negation of this matcher to an ostream. For
+ // example, if the description of this matcher is "is greater than
+ // 7", the negated description could be "is not greater than 7".
+ // You are not required to override this when implementing
+ // MatcherInterface, but it is highly advised so that your matcher
+ // can produce good error messages.
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ *os << "not (";
+ DescribeTo(os);
+ *os << ")";
+ }
+};
+
+namespace internal {
+
+// A match result listener that ignores the explanation.
+class DummyMatchResultListener : public MatchResultListener {
+ public:
+ DummyMatchResultListener() : MatchResultListener(NULL) {}
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(DummyMatchResultListener);
+};
+
+// A match result listener that forwards the explanation to a given
+// ostream. The difference between this and MatchResultListener is
+// that the former is concrete.
+class StreamMatchResultListener : public MatchResultListener {
+ public:
+ explicit StreamMatchResultListener(::std::ostream* os)
+ : MatchResultListener(os) {}
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(StreamMatchResultListener);
+};
+
+// A match result listener that stores the explanation in a string.
+class StringMatchResultListener : public MatchResultListener {
+ public:
+ StringMatchResultListener() : MatchResultListener(&ss_) {}
+
+ // Returns the explanation heard so far.
+ internal::string str() const { return ss_.str(); }
+
+ private:
+ ::std::stringstream ss_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(StringMatchResultListener);
+};
+
+// An internal class for implementing Matcher<T>, which will derive
+// from it. We put functionalities common to all Matcher<T>
+// specializations here to avoid code duplication.
+template <typename T>
+class MatcherBase {
+ public:
+ // Returns true iff the matcher matches x; also explains the match
+ // result to 'listener'.
+ bool MatchAndExplain(T x, MatchResultListener* listener) const {
+ return impl_->MatchAndExplain(x, listener);
+ }
+
+ // Returns true iff this matcher matches x.
+ bool Matches(T x) const {
+ DummyMatchResultListener dummy;
+ return MatchAndExplain(x, &dummy);
+ }
+
+ // Describes this matcher to an ostream.
+ void DescribeTo(::std::ostream* os) const { impl_->DescribeTo(os); }
+
+ // Describes the negation of this matcher to an ostream.
+ void DescribeNegationTo(::std::ostream* os) const {
+ impl_->DescribeNegationTo(os);
+ }
+
+ // Explains why x matches, or doesn't match, the matcher.
+ void ExplainMatchResultTo(T x, ::std::ostream* os) const {
+ StreamMatchResultListener listener(os);
+ MatchAndExplain(x, &listener);
+ }
+
+ protected:
+ MatcherBase() {}
+
+ // Constructs a matcher from its implementation.
+ explicit MatcherBase(const MatcherInterface<T>* impl)
+ : impl_(impl) {}
+
+ virtual ~MatcherBase() {}
+
+ private:
+ // shared_ptr (util/gtl/shared_ptr.h) and linked_ptr have similar
+ // interfaces. The former dynamically allocates a chunk of memory
+ // to hold the reference count, while the latter tracks all
+ // references using a circular linked list without allocating
+ // memory. It has been observed that linked_ptr performs better in
+ // typical scenarios. However, shared_ptr can out-perform
+ // linked_ptr when there are many more uses of the copy constructor
+ // than the default constructor.
+ //
+ // If performance becomes a problem, we should see if using
+ // shared_ptr helps.
+ ::testing::internal::linked_ptr<const MatcherInterface<T> > impl_;
+};
+
+} // namespace internal
+
+// A Matcher<T> is a copyable and IMMUTABLE (except by assignment)
+// object that can check whether a value of type T matches. The
+// implementation of Matcher<T> is just a linked_ptr to const
+// MatcherInterface<T>, so copying is fairly cheap. Don't inherit
+// from Matcher!
+template <typename T>
+class Matcher : public internal::MatcherBase<T> {
+ public:
+ // Constructs a null matcher. Needed for storing Matcher objects in STL
+ // containers. A default-constructed matcher is not yet initialized. You
+ // cannot use it until a valid value has been assigned to it.
+ Matcher() {}
+
+ // Constructs a matcher from its implementation.
+ explicit Matcher(const MatcherInterface<T>* impl)
+ : internal::MatcherBase<T>(impl) {}
+
+ // Implicit constructor here allows people to write
+ // EXPECT_CALL(foo, Bar(5)) instead of EXPECT_CALL(foo, Bar(Eq(5))) sometimes
+ Matcher(T value); // NOLINT
+};
+
+// The following two specializations allow the user to write str
+// instead of Eq(str) and "foo" instead of Eq("foo") when a string
+// matcher is expected.
+template <>
+class Matcher<const internal::string&>
+ : public internal::MatcherBase<const internal::string&> {
+ public:
+ Matcher() {}
+
+ explicit Matcher(const MatcherInterface<const internal::string&>* impl)
+ : internal::MatcherBase<const internal::string&>(impl) {}
+
+ // Allows the user to write str instead of Eq(str) sometimes, where
+ // str is a string object.
+ Matcher(const internal::string& s); // NOLINT
+
+ // Allows the user to write "foo" instead of Eq("foo") sometimes.
+ Matcher(const char* s); // NOLINT
+};
+
+template <>
+class Matcher<internal::string>
+ : public internal::MatcherBase<internal::string> {
+ public:
+ Matcher() {}
+
+ explicit Matcher(const MatcherInterface<internal::string>* impl)
+ : internal::MatcherBase<internal::string>(impl) {}
+
+ // Allows the user to write str instead of Eq(str) sometimes, where
+ // str is a string object.
+ Matcher(const internal::string& s); // NOLINT
+
+ // Allows the user to write "foo" instead of Eq("foo") sometimes.
+ Matcher(const char* s); // NOLINT
+};
+
+// The PolymorphicMatcher class template makes it easy to implement a
+// polymorphic matcher (i.e. a matcher that can match values of more
+// than one type, e.g. Eq(n) and NotNull()).
+//
+// To define a polymorphic matcher, a user should provide an Impl
+// class that has a DescribeTo() method and a DescribeNegationTo()
+// method, and define a member function (or member function template)
+//
+// bool MatchAndExplain(const Value& value,
+// MatchResultListener* listener) const;
+//
+// See the definition of NotNull() for a complete example.
+template <class Impl>
+class PolymorphicMatcher {
+ public:
+ explicit PolymorphicMatcher(const Impl& an_impl) : impl_(an_impl) {}
+
+ // Returns a mutable reference to the underlying matcher
+ // implementation object.
+ Impl& mutable_impl() { return impl_; }
+
+ // Returns an immutable reference to the underlying matcher
+ // implementation object.
+ const Impl& impl() const { return impl_; }
+
+ template <typename T>
+ operator Matcher<T>() const {
+ return Matcher<T>(new MonomorphicImpl<T>(impl_));
+ }
+
+ private:
+ template <typename T>
+ class MonomorphicImpl : public MatcherInterface<T> {
+ public:
+ explicit MonomorphicImpl(const Impl& impl) : impl_(impl) {}
+
+ virtual void DescribeTo(::std::ostream* os) const {
+ impl_.DescribeTo(os);
+ }
+
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ impl_.DescribeNegationTo(os);
+ }
+
+ virtual bool MatchAndExplain(T x, MatchResultListener* listener) const {
+ return impl_.MatchAndExplain(x, listener);
+ }
+
+ private:
+ const Impl impl_;
+
+ GTEST_DISALLOW_ASSIGN_(MonomorphicImpl);
+ };
+
+ Impl impl_;
+
+ GTEST_DISALLOW_ASSIGN_(PolymorphicMatcher);
+};
+
+// Creates a matcher from its implementation. This is easier to use
+// than the Matcher<T> constructor as it doesn't require you to
+// explicitly write the template argument, e.g.
+//
+// MakeMatcher(foo);
+// vs
+// Matcher<const string&>(foo);
+template <typename T>
+inline Matcher<T> MakeMatcher(const MatcherInterface<T>* impl) {
+ return Matcher<T>(impl);
+};
+
+// Creates a polymorphic matcher from its implementation. This is
+// easier to use than the PolymorphicMatcher<Impl> constructor as it
+// doesn't require you to explicitly write the template argument, e.g.
+//
+// MakePolymorphicMatcher(foo);
+// vs
+// PolymorphicMatcher<TypeOfFoo>(foo);
+template <class Impl>
+inline PolymorphicMatcher<Impl> MakePolymorphicMatcher(const Impl& impl) {
+ return PolymorphicMatcher<Impl>(impl);
+}
+
+// In order to be safe and clear, casting between different matcher
+// types is done explicitly via MatcherCast<T>(m), which takes a
+// matcher m and returns a Matcher<T>. It compiles only when T can be
+// statically converted to the argument type of m.
+template <typename T, typename M>
+Matcher<T> MatcherCast(M m);
+
+// Implements SafeMatcherCast().
+//
+// We use an intermediate class to do the actual safe casting as Nokia's
+// Symbian compiler cannot decide between
+// template <T, M> ... (M) and
+// template <T, U> ... (const Matcher<U>&)
+// for function templates but can for member function templates.
+template <typename T>
+class SafeMatcherCastImpl {
+ public:
+ // This overload handles polymorphic matchers only since monomorphic
+ // matchers are handled by the next one.
+ template <typename M>
+ static inline Matcher<T> Cast(M polymorphic_matcher) {
+ return Matcher<T>(polymorphic_matcher);
+ }
+
+ // This overload handles monomorphic matchers.
+ //
+ // In general, if type T can be implicitly converted to type U, we can
+ // safely convert a Matcher<U> to a Matcher<T> (i.e. Matcher is
+ // contravariant): just keep a copy of the original Matcher<U>, convert the
+ // argument from type T to U, and then pass it to the underlying Matcher<U>.
+ // The only exception is when U is a reference and T is not, as the
+ // underlying Matcher<U> may be interested in the argument's address, which
+ // is not preserved in the conversion from T to U.
+ template <typename U>
+ static inline Matcher<T> Cast(const Matcher<U>& matcher) {
+ // Enforce that T can be implicitly converted to U.
+ GTEST_COMPILE_ASSERT_((internal::ImplicitlyConvertible<T, U>::value),
+ T_must_be_implicitly_convertible_to_U);
+ // Enforce that we are not converting a non-reference type T to a reference
+ // type U.
+ GTEST_COMPILE_ASSERT_(
+ internal::is_reference<T>::value || !internal::is_reference<U>::value,
+ cannot_convert_non_referentce_arg_to_reference);
+ // In case both T and U are arithmetic types, enforce that the
+ // conversion is not lossy.
+ typedef GTEST_REMOVE_REFERENCE_AND_CONST_(T) RawT;
+ typedef GTEST_REMOVE_REFERENCE_AND_CONST_(U) RawU;
+ const bool kTIsOther = GMOCK_KIND_OF_(RawT) == internal::kOther;
+ const bool kUIsOther = GMOCK_KIND_OF_(RawU) == internal::kOther;
+ GTEST_COMPILE_ASSERT_(
+ kTIsOther || kUIsOther ||
+ (internal::LosslessArithmeticConvertible<RawT, RawU>::value),
+ conversion_of_arithmetic_types_must_be_lossless);
+ return MatcherCast<T>(matcher);
+ }
+};
+
+template <typename T, typename M>
+inline Matcher<T> SafeMatcherCast(const M& polymorphic_matcher) {
+ return SafeMatcherCastImpl<T>::Cast(polymorphic_matcher);
+}
+
+// A<T>() returns a matcher that matches any value of type T.
+template <typename T>
+Matcher<T> A();
+
+// Anything inside the 'internal' namespace IS INTERNAL IMPLEMENTATION
+// and MUST NOT BE USED IN USER CODE!!!
+namespace internal {
+
+// If the explanation is not empty, prints it to the ostream.
+inline void PrintIfNotEmpty(const internal::string& explanation,
+ std::ostream* os) {
+ if (explanation != "" && os != NULL) {
+ *os << ", " << explanation;
+ }
+}
+
+// Returns true if the given type name is easy to read by a human.
+// This is used to decide whether printing the type of a value might
+// be helpful.
+inline bool IsReadableTypeName(const string& type_name) {
+ // We consider a type name readable if it's short or doesn't contain
+ // a template or function type.
+ return (type_name.length() <= 20 ||
+ type_name.find_first_of("<(") == string::npos);
+}
+
+// Matches the value against the given matcher, prints the value and explains
+// the match result to the listener. Returns the match result.
+// 'listener' must not be NULL.
+// Value cannot be passed by const reference, because some matchers take a
+// non-const argument.
+template <typename Value, typename T>
+bool MatchPrintAndExplain(Value& value, const Matcher<T>& matcher,
+ MatchResultListener* listener) {
+ if (!listener->IsInterested()) {
+ // If the listener is not interested, we do not need to construct the
+ // inner explanation.
+ return matcher.Matches(value);
+ }
+
+ StringMatchResultListener inner_listener;
+ const bool match = matcher.MatchAndExplain(value, &inner_listener);
+
+ UniversalPrint(value, listener->stream());
+#if GTEST_HAS_RTTI
+ const string& type_name = GetTypeName<Value>();
+ if (IsReadableTypeName(type_name))
+ *listener->stream() << " (of type " << type_name << ")";
+#endif
+ PrintIfNotEmpty(inner_listener.str(), listener->stream());
+
+ return match;
+}
+
+// An internal helper class for doing compile-time loop on a tuple's
+// fields.
+template <size_t N>
+class TuplePrefix {
+ public:
+ // TuplePrefix<N>::Matches(matcher_tuple, value_tuple) returns true
+ // iff the first N fields of matcher_tuple matches the first N
+ // fields of value_tuple, respectively.
+ template <typename MatcherTuple, typename ValueTuple>
+ static bool Matches(const MatcherTuple& matcher_tuple,
+ const ValueTuple& value_tuple) {
+ using ::std::tr1::get;
+ return TuplePrefix<N - 1>::Matches(matcher_tuple, value_tuple)
+ && get<N - 1>(matcher_tuple).Matches(get<N - 1>(value_tuple));
+ }
+
+ // TuplePrefix<N>::ExplainMatchFailuresTo(matchers, values, os)
+ // describes failures in matching the first N fields of matchers
+ // against the first N fields of values. If there is no failure,
+ // nothing will be streamed to os.
+ template <typename MatcherTuple, typename ValueTuple>
+ static void ExplainMatchFailuresTo(const MatcherTuple& matchers,
+ const ValueTuple& values,
+ ::std::ostream* os) {
+ using ::std::tr1::tuple_element;
+ using ::std::tr1::get;
+
+ // First, describes failures in the first N - 1 fields.
+ TuplePrefix<N - 1>::ExplainMatchFailuresTo(matchers, values, os);
+
+ // Then describes the failure (if any) in the (N - 1)-th (0-based)
+ // field.
+ typename tuple_element<N - 1, MatcherTuple>::type matcher =
+ get<N - 1>(matchers);
+ typedef typename tuple_element<N - 1, ValueTuple>::type Value;
+ Value value = get<N - 1>(values);
+ StringMatchResultListener listener;
+ if (!matcher.MatchAndExplain(value, &listener)) {
+ // TODO(wan): include in the message the name of the parameter
+ // as used in MOCK_METHOD*() when possible.
+ *os << " Expected arg #" << N - 1 << ": ";
+ get<N - 1>(matchers).DescribeTo(os);
+ *os << "\n Actual: ";
+ // We remove the reference in type Value to prevent the
+ // universal printer from printing the address of value, which
+ // isn't interesting to the user most of the time. The
+ // matcher's MatchAndExplain() method handles the case when
+ // the address is interesting.
+ internal::UniversalPrint(value, os);
+ PrintIfNotEmpty(listener.str(), os);
+ *os << "\n";
+ }
+ }
+};
+
+// The base case.
+template <>
+class TuplePrefix<0> {
+ public:
+ template <typename MatcherTuple, typename ValueTuple>
+ static bool Matches(const MatcherTuple& /* matcher_tuple */,
+ const ValueTuple& /* value_tuple */) {
+ return true;
+ }
+
+ template <typename MatcherTuple, typename ValueTuple>
+ static void ExplainMatchFailuresTo(const MatcherTuple& /* matchers */,
+ const ValueTuple& /* values */,
+ ::std::ostream* /* os */) {}
+};
+
+// TupleMatches(matcher_tuple, value_tuple) returns true iff all
+// matchers in matcher_tuple match the corresponding fields in
+// value_tuple. It is a compiler error if matcher_tuple and
+// value_tuple have different number of fields or incompatible field
+// types.
+template <typename MatcherTuple, typename ValueTuple>
+bool TupleMatches(const MatcherTuple& matcher_tuple,
+ const ValueTuple& value_tuple) {
+ using ::std::tr1::tuple_size;
+ // Makes sure that matcher_tuple and value_tuple have the same
+ // number of fields.
+ GTEST_COMPILE_ASSERT_(tuple_size<MatcherTuple>::value ==
+ tuple_size<ValueTuple>::value,
+ matcher_and_value_have_different_numbers_of_fields);
+ return TuplePrefix<tuple_size<ValueTuple>::value>::
+ Matches(matcher_tuple, value_tuple);
+}
+
+// Describes failures in matching matchers against values. If there
+// is no failure, nothing will be streamed to os.
+template <typename MatcherTuple, typename ValueTuple>
+void ExplainMatchFailureTupleTo(const MatcherTuple& matchers,
+ const ValueTuple& values,
+ ::std::ostream* os) {
+ using ::std::tr1::tuple_size;
+ TuplePrefix<tuple_size<MatcherTuple>::value>::ExplainMatchFailuresTo(
+ matchers, values, os);
+}
+
+// The MatcherCastImpl class template is a helper for implementing
+// MatcherCast(). We need this helper in order to partially
+// specialize the implementation of MatcherCast() (C++ allows
+// class/struct templates to be partially specialized, but not
+// function templates.).
+
+// This general version is used when MatcherCast()'s argument is a
+// polymorphic matcher (i.e. something that can be converted to a
+// Matcher but is not one yet; for example, Eq(value)).
+template <typename T, typename M>
+class MatcherCastImpl {
+ public:
+ static Matcher<T> Cast(M polymorphic_matcher) {
+ return Matcher<T>(polymorphic_matcher);
+ }
+};
+
+// This more specialized version is used when MatcherCast()'s argument
+// is already a Matcher. This only compiles when type T can be
+// statically converted to type U.
+template <typename T, typename U>
+class MatcherCastImpl<T, Matcher<U> > {
+ public:
+ static Matcher<T> Cast(const Matcher<U>& source_matcher) {
+ return Matcher<T>(new Impl(source_matcher));
+ }
+
+ private:
+ class Impl : public MatcherInterface<T> {
+ public:
+ explicit Impl(const Matcher<U>& source_matcher)
+ : source_matcher_(source_matcher) {}
+
+ // We delegate the matching logic to the source matcher.
+ virtual bool MatchAndExplain(T x, MatchResultListener* listener) const {
+ return source_matcher_.MatchAndExplain(static_cast<U>(x), listener);
+ }
+
+ virtual void DescribeTo(::std::ostream* os) const {
+ source_matcher_.DescribeTo(os);
+ }
+
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ source_matcher_.DescribeNegationTo(os);
+ }
+
+ private:
+ const Matcher<U> source_matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(Impl);
+ };
+};
+
+// This even more specialized version is used for efficiently casting
+// a matcher to its own type.
+template <typename T>
+class MatcherCastImpl<T, Matcher<T> > {
+ public:
+ static Matcher<T> Cast(const Matcher<T>& matcher) { return matcher; }
+};
+
+// Implements A<T>().
+template <typename T>
+class AnyMatcherImpl : public MatcherInterface<T> {
+ public:
+ virtual bool MatchAndExplain(
+ T /* x */, MatchResultListener* /* listener */) const { return true; }
+ virtual void DescribeTo(::std::ostream* os) const { *os << "is anything"; }
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ // This is mostly for completeness' safe, as it's not very useful
+ // to write Not(A<bool>()). However we cannot completely rule out
+ // such a possibility, and it doesn't hurt to be prepared.
+ *os << "never matches";
+ }
+};
+
+// Implements _, a matcher that matches any value of any
+// type. This is a polymorphic matcher, so we need a template type
+// conversion operator to make it appearing as a Matcher<T> for any
+// type T.
+class AnythingMatcher {
+ public:
+ template <typename T>
+ operator Matcher<T>() const { return A<T>(); }
+};
+
+// Implements a matcher that compares a given value with a
+// pre-supplied value using one of the ==, <=, <, etc, operators. The
+// two values being compared don't have to have the same type.
+//
+// The matcher defined here is polymorphic (for example, Eq(5) can be
+// used to match an int, a short, a double, etc). Therefore we use
+// a template type conversion operator in the implementation.
+//
+// We define this as a macro in order to eliminate duplicated source
+// code.
+//
+// The following template definition assumes that the Rhs parameter is
+// a "bare" type (i.e. neither 'const T' nor 'T&').
+#define GMOCK_IMPLEMENT_COMPARISON_MATCHER_( \
+ name, op, relation, negated_relation) \
+ template <typename Rhs> class name##Matcher { \
+ public: \
+ explicit name##Matcher(const Rhs& rhs) : rhs_(rhs) {} \
+ template <typename Lhs> \
+ operator Matcher<Lhs>() const { \
+ return MakeMatcher(new Impl<Lhs>(rhs_)); \
+ } \
+ private: \
+ template <typename Lhs> \
+ class Impl : public MatcherInterface<Lhs> { \
+ public: \
+ explicit Impl(const Rhs& rhs) : rhs_(rhs) {} \
+ virtual bool MatchAndExplain(\
+ Lhs lhs, MatchResultListener* /* listener */) const { \
+ return lhs op rhs_; \
+ } \
+ virtual void DescribeTo(::std::ostream* os) const { \
+ *os << relation " "; \
+ UniversalPrint(rhs_, os); \
+ } \
+ virtual void DescribeNegationTo(::std::ostream* os) const { \
+ *os << negated_relation " "; \
+ UniversalPrint(rhs_, os); \
+ } \
+ private: \
+ Rhs rhs_; \
+ GTEST_DISALLOW_ASSIGN_(Impl); \
+ }; \
+ Rhs rhs_; \
+ GTEST_DISALLOW_ASSIGN_(name##Matcher); \
+ }
+
+// Implements Eq(v), Ge(v), Gt(v), Le(v), Lt(v), and Ne(v)
+// respectively.
+GMOCK_IMPLEMENT_COMPARISON_MATCHER_(Eq, ==, "is equal to", "isn't equal to");
+GMOCK_IMPLEMENT_COMPARISON_MATCHER_(Ge, >=, "is >=", "isn't >=");
+GMOCK_IMPLEMENT_COMPARISON_MATCHER_(Gt, >, "is >", "isn't >");
+GMOCK_IMPLEMENT_COMPARISON_MATCHER_(Le, <=, "is <=", "isn't <=");
+GMOCK_IMPLEMENT_COMPARISON_MATCHER_(Lt, <, "is <", "isn't <");
+GMOCK_IMPLEMENT_COMPARISON_MATCHER_(Ne, !=, "isn't equal to", "is equal to");
+
+#undef GMOCK_IMPLEMENT_COMPARISON_MATCHER_
+
+// Implements the polymorphic IsNull() matcher, which matches any raw or smart
+// pointer that is NULL.
+class IsNullMatcher {
+ public:
+ template <typename Pointer>
+ bool MatchAndExplain(const Pointer& p,
+ MatchResultListener* /* listener */) const {
+ return GetRawPointer(p) == NULL;
+ }
+
+ void DescribeTo(::std::ostream* os) const { *os << "is NULL"; }
+ void DescribeNegationTo(::std::ostream* os) const {
+ *os << "isn't NULL";
+ }
+};
+
+// Implements the polymorphic NotNull() matcher, which matches any raw or smart
+// pointer that is not NULL.
+class NotNullMatcher {
+ public:
+ template <typename Pointer>
+ bool MatchAndExplain(const Pointer& p,
+ MatchResultListener* /* listener */) const {
+ return GetRawPointer(p) != NULL;
+ }
+
+ void DescribeTo(::std::ostream* os) const { *os << "isn't NULL"; }
+ void DescribeNegationTo(::std::ostream* os) const {
+ *os << "is NULL";
+ }
+};
+
+// Ref(variable) matches any argument that is a reference to
+// 'variable'. This matcher is polymorphic as it can match any
+// super type of the type of 'variable'.
+//
+// The RefMatcher template class implements Ref(variable). It can
+// only be instantiated with a reference type. This prevents a user
+// from mistakenly using Ref(x) to match a non-reference function
+// argument. For example, the following will righteously cause a
+// compiler error:
+//
+// int n;
+// Matcher<int> m1 = Ref(n); // This won't compile.
+// Matcher<int&> m2 = Ref(n); // This will compile.
+template <typename T>
+class RefMatcher;
+
+template <typename T>
+class RefMatcher<T&> {
+ // Google Mock is a generic framework and thus needs to support
+ // mocking any function types, including those that take non-const
+ // reference arguments. Therefore the template parameter T (and
+ // Super below) can be instantiated to either a const type or a
+ // non-const type.
+ public:
+ // RefMatcher() takes a T& instead of const T&, as we want the
+ // compiler to catch using Ref(const_value) as a matcher for a
+ // non-const reference.
+ explicit RefMatcher(T& x) : object_(x) {} // NOLINT
+
+ template <typename Super>
+ operator Matcher<Super&>() const {
+ // By passing object_ (type T&) to Impl(), which expects a Super&,
+ // we make sure that Super is a super type of T. In particular,
+ // this catches using Ref(const_value) as a matcher for a
+ // non-const reference, as you cannot implicitly convert a const
+ // reference to a non-const reference.
+ return MakeMatcher(new Impl<Super>(object_));
+ }
+
+ private:
+ template <typename Super>
+ class Impl : public MatcherInterface<Super&> {
+ public:
+ explicit Impl(Super& x) : object_(x) {} // NOLINT
+
+ // MatchAndExplain() takes a Super& (as opposed to const Super&)
+ // in order to match the interface MatcherInterface<Super&>.
+ virtual bool MatchAndExplain(
+ Super& x, MatchResultListener* listener) const {
+ *listener << "which is located @" << static_cast<const void*>(&x);
+ return &x == &object_;
+ }
+
+ virtual void DescribeTo(::std::ostream* os) const {
+ *os << "references the variable ";
+ UniversalPrinter<Super&>::Print(object_, os);
+ }
+
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ *os << "does not reference the variable ";
+ UniversalPrinter<Super&>::Print(object_, os);
+ }
+
+ private:
+ const Super& object_;
+
+ GTEST_DISALLOW_ASSIGN_(Impl);
+ };
+
+ T& object_;
+
+ GTEST_DISALLOW_ASSIGN_(RefMatcher);
+};
+
+// Polymorphic helper functions for narrow and wide string matchers.
+inline bool CaseInsensitiveCStringEquals(const char* lhs, const char* rhs) {
+ return String::CaseInsensitiveCStringEquals(lhs, rhs);
+}
+
+inline bool CaseInsensitiveCStringEquals(const wchar_t* lhs,
+ const wchar_t* rhs) {
+ return String::CaseInsensitiveWideCStringEquals(lhs, rhs);
+}
+
+// String comparison for narrow or wide strings that can have embedded NUL
+// characters.
+template <typename StringType>
+bool CaseInsensitiveStringEquals(const StringType& s1,
+ const StringType& s2) {
+ // Are the heads equal?
+ if (!CaseInsensitiveCStringEquals(s1.c_str(), s2.c_str())) {
+ return false;
+ }
+
+ // Skip the equal heads.
+ const typename StringType::value_type nul = 0;
+ const size_t i1 = s1.find(nul), i2 = s2.find(nul);
+
+ // Are we at the end of either s1 or s2?
+ if (i1 == StringType::npos || i2 == StringType::npos) {
+ return i1 == i2;
+ }
+
+ // Are the tails equal?
+ return CaseInsensitiveStringEquals(s1.substr(i1 + 1), s2.substr(i2 + 1));
+}
+
+// String matchers.
+
+// Implements equality-based string matchers like StrEq, StrCaseNe, and etc.
+template <typename StringType>
+class StrEqualityMatcher {
+ public:
+ typedef typename StringType::const_pointer ConstCharPointer;
+
+ StrEqualityMatcher(const StringType& str, bool expect_eq,
+ bool case_sensitive)
+ : string_(str), expect_eq_(expect_eq), case_sensitive_(case_sensitive) {}
+
+ // When expect_eq_ is true, returns true iff s is equal to string_;
+ // otherwise returns true iff s is not equal to string_.
+ bool MatchAndExplain(ConstCharPointer s,
+ MatchResultListener* listener) const {
+ if (s == NULL) {
+ return !expect_eq_;
+ }
+ return MatchAndExplain(StringType(s), listener);
+ }
+
+ bool MatchAndExplain(const StringType& s,
+ MatchResultListener* /* listener */) const {
+ const bool eq = case_sensitive_ ? s == string_ :
+ CaseInsensitiveStringEquals(s, string_);
+ return expect_eq_ == eq;
+ }
+
+ void DescribeTo(::std::ostream* os) const {
+ DescribeToHelper(expect_eq_, os);
+ }
+
+ void DescribeNegationTo(::std::ostream* os) const {
+ DescribeToHelper(!expect_eq_, os);
+ }
+
+ private:
+ void DescribeToHelper(bool expect_eq, ::std::ostream* os) const {
+ *os << (expect_eq ? "is " : "isn't ");
+ *os << "equal to ";
+ if (!case_sensitive_) {
+ *os << "(ignoring case) ";
+ }
+ UniversalPrint(string_, os);
+ }
+
+ const StringType string_;
+ const bool expect_eq_;
+ const bool case_sensitive_;
+
+ GTEST_DISALLOW_ASSIGN_(StrEqualityMatcher);
+};
+
+// Implements the polymorphic HasSubstr(substring) matcher, which
+// can be used as a Matcher<T> as long as T can be converted to a
+// string.
+template <typename StringType>
+class HasSubstrMatcher {
+ public:
+ typedef typename StringType::const_pointer ConstCharPointer;
+
+ explicit HasSubstrMatcher(const StringType& substring)
+ : substring_(substring) {}
+
+ // These overloaded methods allow HasSubstr(substring) to be used as a
+ // Matcher<T> as long as T can be converted to string. Returns true
+ // iff s contains substring_ as a substring.
+ bool MatchAndExplain(ConstCharPointer s,
+ MatchResultListener* listener) const {
+ return s != NULL && MatchAndExplain(StringType(s), listener);
+ }
+
+ bool MatchAndExplain(const StringType& s,
+ MatchResultListener* /* listener */) const {
+ return s.find(substring_) != StringType::npos;
+ }
+
+ // Describes what this matcher matches.
+ void DescribeTo(::std::ostream* os) const {
+ *os << "has substring ";
+ UniversalPrint(substring_, os);
+ }
+
+ void DescribeNegationTo(::std::ostream* os) const {
+ *os << "has no substring ";
+ UniversalPrint(substring_, os);
+ }
+
+ private:
+ const StringType substring_;
+
+ GTEST_DISALLOW_ASSIGN_(HasSubstrMatcher);
+};
+
+// Implements the polymorphic StartsWith(substring) matcher, which
+// can be used as a Matcher<T> as long as T can be converted to a
+// string.
+template <typename StringType>
+class StartsWithMatcher {
+ public:
+ typedef typename StringType::const_pointer ConstCharPointer;
+
+ explicit StartsWithMatcher(const StringType& prefix) : prefix_(prefix) {
+ }
+
+ // These overloaded methods allow StartsWith(prefix) to be used as a
+ // Matcher<T> as long as T can be converted to string. Returns true
+ // iff s starts with prefix_.
+ bool MatchAndExplain(ConstCharPointer s,
+ MatchResultListener* listener) const {
+ return s != NULL && MatchAndExplain(StringType(s), listener);
+ }
+
+ bool MatchAndExplain(const StringType& s,
+ MatchResultListener* /* listener */) const {
+ return s.length() >= prefix_.length() &&
+ s.substr(0, prefix_.length()) == prefix_;
+ }
+
+ void DescribeTo(::std::ostream* os) const {
+ *os << "starts with ";
+ UniversalPrint(prefix_, os);
+ }
+
+ void DescribeNegationTo(::std::ostream* os) const {
+ *os << "doesn't start with ";
+ UniversalPrint(prefix_, os);
+ }
+
+ private:
+ const StringType prefix_;
+
+ GTEST_DISALLOW_ASSIGN_(StartsWithMatcher);
+};
+
+// Implements the polymorphic EndsWith(substring) matcher, which
+// can be used as a Matcher<T> as long as T can be converted to a
+// string.
+template <typename StringType>
+class EndsWithMatcher {
+ public:
+ typedef typename StringType::const_pointer ConstCharPointer;
+
+ explicit EndsWithMatcher(const StringType& suffix) : suffix_(suffix) {}
+
+ // These overloaded methods allow EndsWith(suffix) to be used as a
+ // Matcher<T> as long as T can be converted to string. Returns true
+ // iff s ends with suffix_.
+ bool MatchAndExplain(ConstCharPointer s,
+ MatchResultListener* listener) const {
+ return s != NULL && MatchAndExplain(StringType(s), listener);
+ }
+
+ bool MatchAndExplain(const StringType& s,
+ MatchResultListener* /* listener */) const {
+ return s.length() >= suffix_.length() &&
+ s.substr(s.length() - suffix_.length()) == suffix_;
+ }
+
+ void DescribeTo(::std::ostream* os) const {
+ *os << "ends with ";
+ UniversalPrint(suffix_, os);
+ }
+
+ void DescribeNegationTo(::std::ostream* os) const {
+ *os << "doesn't end with ";
+ UniversalPrint(suffix_, os);
+ }
+
+ private:
+ const StringType suffix_;
+
+ GTEST_DISALLOW_ASSIGN_(EndsWithMatcher);
+};
+
+// Implements polymorphic matchers MatchesRegex(regex) and
+// ContainsRegex(regex), which can be used as a Matcher<T> as long as
+// T can be converted to a string.
+class MatchesRegexMatcher {
+ public:
+ MatchesRegexMatcher(const RE* regex, bool full_match)
+ : regex_(regex), full_match_(full_match) {}
+
+ // These overloaded methods allow MatchesRegex(regex) to be used as
+ // a Matcher<T> as long as T can be converted to string. Returns
+ // true iff s matches regular expression regex. When full_match_ is
+ // true, a full match is done; otherwise a partial match is done.
+ bool MatchAndExplain(const char* s,
+ MatchResultListener* listener) const {
+ return s != NULL && MatchAndExplain(internal::string(s), listener);
+ }
+
+ bool MatchAndExplain(const internal::string& s,
+ MatchResultListener* /* listener */) const {
+ return full_match_ ? RE::FullMatch(s, *regex_) :
+ RE::PartialMatch(s, *regex_);
+ }
+
+ void DescribeTo(::std::ostream* os) const {
+ *os << (full_match_ ? "matches" : "contains")
+ << " regular expression ";
+ UniversalPrinter<internal::string>::Print(regex_->pattern(), os);
+ }
+
+ void DescribeNegationTo(::std::ostream* os) const {
+ *os << "doesn't " << (full_match_ ? "match" : "contain")
+ << " regular expression ";
+ UniversalPrinter<internal::string>::Print(regex_->pattern(), os);
+ }
+
+ private:
+ const internal::linked_ptr<const RE> regex_;
+ const bool full_match_;
+
+ GTEST_DISALLOW_ASSIGN_(MatchesRegexMatcher);
+};
+
+// Implements a matcher that compares the two fields of a 2-tuple
+// using one of the ==, <=, <, etc, operators. The two fields being
+// compared don't have to have the same type.
+//
+// The matcher defined here is polymorphic (for example, Eq() can be
+// used to match a tuple<int, short>, a tuple<const long&, double>,
+// etc). Therefore we use a template type conversion operator in the
+// implementation.
+//
+// We define this as a macro in order to eliminate duplicated source
+// code.
+#define GMOCK_IMPLEMENT_COMPARISON2_MATCHER_(name, op, relation) \
+ class name##2Matcher { \
+ public: \
+ template <typename T1, typename T2> \
+ operator Matcher< ::std::tr1::tuple<T1, T2> >() const { \
+ return MakeMatcher(new Impl< ::std::tr1::tuple<T1, T2> >); \
+ } \
+ template <typename T1, typename T2> \
+ operator Matcher<const ::std::tr1::tuple<T1, T2>&>() const { \
+ return MakeMatcher(new Impl<const ::std::tr1::tuple<T1, T2>&>); \
+ } \
+ private: \
+ template <typename Tuple> \
+ class Impl : public MatcherInterface<Tuple> { \
+ public: \
+ virtual bool MatchAndExplain( \
+ Tuple args, \
+ MatchResultListener* /* listener */) const { \
+ return ::std::tr1::get<0>(args) op ::std::tr1::get<1>(args); \
+ } \
+ virtual void DescribeTo(::std::ostream* os) const { \
+ *os << "are " relation; \
+ } \
+ virtual void DescribeNegationTo(::std::ostream* os) const { \
+ *os << "aren't " relation; \
+ } \
+ }; \
+ }
+
+// Implements Eq(), Ge(), Gt(), Le(), Lt(), and Ne() respectively.
+GMOCK_IMPLEMENT_COMPARISON2_MATCHER_(Eq, ==, "an equal pair");
+GMOCK_IMPLEMENT_COMPARISON2_MATCHER_(
+ Ge, >=, "a pair where the first >= the second");
+GMOCK_IMPLEMENT_COMPARISON2_MATCHER_(
+ Gt, >, "a pair where the first > the second");
+GMOCK_IMPLEMENT_COMPARISON2_MATCHER_(
+ Le, <=, "a pair where the first <= the second");
+GMOCK_IMPLEMENT_COMPARISON2_MATCHER_(
+ Lt, <, "a pair where the first < the second");
+GMOCK_IMPLEMENT_COMPARISON2_MATCHER_(Ne, !=, "an unequal pair");
+
+#undef GMOCK_IMPLEMENT_COMPARISON2_MATCHER_
+
+// Implements the Not(...) matcher for a particular argument type T.
+// We do not nest it inside the NotMatcher class template, as that
+// will prevent different instantiations of NotMatcher from sharing
+// the same NotMatcherImpl<T> class.
+template <typename T>
+class NotMatcherImpl : public MatcherInterface<T> {
+ public:
+ explicit NotMatcherImpl(const Matcher<T>& matcher)
+ : matcher_(matcher) {}
+
+ virtual bool MatchAndExplain(T x, MatchResultListener* listener) const {
+ return !matcher_.MatchAndExplain(x, listener);
+ }
+
+ virtual void DescribeTo(::std::ostream* os) const {
+ matcher_.DescribeNegationTo(os);
+ }
+
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ matcher_.DescribeTo(os);
+ }
+
+ private:
+ const Matcher<T> matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(NotMatcherImpl);
+};
+
+// Implements the Not(m) matcher, which matches a value that doesn't
+// match matcher m.
+template <typename InnerMatcher>
+class NotMatcher {
+ public:
+ explicit NotMatcher(InnerMatcher matcher) : matcher_(matcher) {}
+
+ // This template type conversion operator allows Not(m) to be used
+ // to match any type m can match.
+ template <typename T>
+ operator Matcher<T>() const {
+ return Matcher<T>(new NotMatcherImpl<T>(SafeMatcherCast<T>(matcher_)));
+ }
+
+ private:
+ InnerMatcher matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(NotMatcher);
+};
+
+// Implements the AllOf(m1, m2) matcher for a particular argument type
+// T. We do not nest it inside the BothOfMatcher class template, as
+// that will prevent different instantiations of BothOfMatcher from
+// sharing the same BothOfMatcherImpl<T> class.
+template <typename T>
+class BothOfMatcherImpl : public MatcherInterface<T> {
+ public:
+ BothOfMatcherImpl(const Matcher<T>& matcher1, const Matcher<T>& matcher2)
+ : matcher1_(matcher1), matcher2_(matcher2) {}
+
+ virtual void DescribeTo(::std::ostream* os) const {
+ *os << "(";
+ matcher1_.DescribeTo(os);
+ *os << ") and (";
+ matcher2_.DescribeTo(os);
+ *os << ")";
+ }
+
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ *os << "(";
+ matcher1_.DescribeNegationTo(os);
+ *os << ") or (";
+ matcher2_.DescribeNegationTo(os);
+ *os << ")";
+ }
+
+ virtual bool MatchAndExplain(T x, MatchResultListener* listener) const {
+ // If either matcher1_ or matcher2_ doesn't match x, we only need
+ // to explain why one of them fails.
+ StringMatchResultListener listener1;
+ if (!matcher1_.MatchAndExplain(x, &listener1)) {
+ *listener << listener1.str();
+ return false;
+ }
+
+ StringMatchResultListener listener2;
+ if (!matcher2_.MatchAndExplain(x, &listener2)) {
+ *listener << listener2.str();
+ return false;
+ }
+
+ // Otherwise we need to explain why *both* of them match.
+ const internal::string s1 = listener1.str();
+ const internal::string s2 = listener2.str();
+
+ if (s1 == "") {
+ *listener << s2;
+ } else {
+ *listener << s1;
+ if (s2 != "") {
+ *listener << ", and " << s2;
+ }
+ }
+ return true;
+ }
+
+ private:
+ const Matcher<T> matcher1_;
+ const Matcher<T> matcher2_;
+
+ GTEST_DISALLOW_ASSIGN_(BothOfMatcherImpl);
+};
+
+// Used for implementing the AllOf(m_1, ..., m_n) matcher, which
+// matches a value that matches all of the matchers m_1, ..., and m_n.
+template <typename Matcher1, typename Matcher2>
+class BothOfMatcher {
+ public:
+ BothOfMatcher(Matcher1 matcher1, Matcher2 matcher2)
+ : matcher1_(matcher1), matcher2_(matcher2) {}
+
+ // This template type conversion operator allows a
+ // BothOfMatcher<Matcher1, Matcher2> object to match any type that
+ // both Matcher1 and Matcher2 can match.
+ template <typename T>
+ operator Matcher<T>() const {
+ return Matcher<T>(new BothOfMatcherImpl<T>(SafeMatcherCast<T>(matcher1_),
+ SafeMatcherCast<T>(matcher2_)));
+ }
+
+ private:
+ Matcher1 matcher1_;
+ Matcher2 matcher2_;
+
+ GTEST_DISALLOW_ASSIGN_(BothOfMatcher);
+};
+
+// Implements the AnyOf(m1, m2) matcher for a particular argument type
+// T. We do not nest it inside the AnyOfMatcher class template, as
+// that will prevent different instantiations of AnyOfMatcher from
+// sharing the same EitherOfMatcherImpl<T> class.
+template <typename T>
+class EitherOfMatcherImpl : public MatcherInterface<T> {
+ public:
+ EitherOfMatcherImpl(const Matcher<T>& matcher1, const Matcher<T>& matcher2)
+ : matcher1_(matcher1), matcher2_(matcher2) {}
+
+ virtual void DescribeTo(::std::ostream* os) const {
+ *os << "(";
+ matcher1_.DescribeTo(os);
+ *os << ") or (";
+ matcher2_.DescribeTo(os);
+ *os << ")";
+ }
+
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ *os << "(";
+ matcher1_.DescribeNegationTo(os);
+ *os << ") and (";
+ matcher2_.DescribeNegationTo(os);
+ *os << ")";
+ }
+
+ virtual bool MatchAndExplain(T x, MatchResultListener* listener) const {
+ // If either matcher1_ or matcher2_ matches x, we just need to
+ // explain why *one* of them matches.
+ StringMatchResultListener listener1;
+ if (matcher1_.MatchAndExplain(x, &listener1)) {
+ *listener << listener1.str();
+ return true;
+ }
+
+ StringMatchResultListener listener2;
+ if (matcher2_.MatchAndExplain(x, &listener2)) {
+ *listener << listener2.str();
+ return true;
+ }
+
+ // Otherwise we need to explain why *both* of them fail.
+ const internal::string s1 = listener1.str();
+ const internal::string s2 = listener2.str();
+
+ if (s1 == "") {
+ *listener << s2;
+ } else {
+ *listener << s1;
+ if (s2 != "") {
+ *listener << ", and " << s2;
+ }
+ }
+ return false;
+ }
+
+ private:
+ const Matcher<T> matcher1_;
+ const Matcher<T> matcher2_;
+
+ GTEST_DISALLOW_ASSIGN_(EitherOfMatcherImpl);
+};
+
+// Used for implementing the AnyOf(m_1, ..., m_n) matcher, which
+// matches a value that matches at least one of the matchers m_1, ...,
+// and m_n.
+template <typename Matcher1, typename Matcher2>
+class EitherOfMatcher {
+ public:
+ EitherOfMatcher(Matcher1 matcher1, Matcher2 matcher2)
+ : matcher1_(matcher1), matcher2_(matcher2) {}
+
+ // This template type conversion operator allows a
+ // EitherOfMatcher<Matcher1, Matcher2> object to match any type that
+ // both Matcher1 and Matcher2 can match.
+ template <typename T>
+ operator Matcher<T>() const {
+ return Matcher<T>(new EitherOfMatcherImpl<T>(
+ SafeMatcherCast<T>(matcher1_), SafeMatcherCast<T>(matcher2_)));
+ }
+
+ private:
+ Matcher1 matcher1_;
+ Matcher2 matcher2_;
+
+ GTEST_DISALLOW_ASSIGN_(EitherOfMatcher);
+};
+
+// Used for implementing Truly(pred), which turns a predicate into a
+// matcher.
+template <typename Predicate>
+class TrulyMatcher {
+ public:
+ explicit TrulyMatcher(Predicate pred) : predicate_(pred) {}
+
+ // This method template allows Truly(pred) to be used as a matcher
+ // for type T where T is the argument type of predicate 'pred'. The
+ // argument is passed by reference as the predicate may be
+ // interested in the address of the argument.
+ template <typename T>
+ bool MatchAndExplain(T& x, // NOLINT
+ MatchResultListener* /* listener */) const {
+ // Without the if-statement, MSVC sometimes warns about converting
+ // a value to bool (warning 4800).
+ //
+ // We cannot write 'return !!predicate_(x);' as that doesn't work
+ // when predicate_(x) returns a class convertible to bool but
+ // having no operator!().
+ if (predicate_(x))
+ return true;
+ return false;
+ }
+
+ void DescribeTo(::std::ostream* os) const {
+ *os << "satisfies the given predicate";
+ }
+
+ void DescribeNegationTo(::std::ostream* os) const {
+ *os << "doesn't satisfy the given predicate";
+ }
+
+ private:
+ Predicate predicate_;
+
+ GTEST_DISALLOW_ASSIGN_(TrulyMatcher);
+};
+
+// Used for implementing Matches(matcher), which turns a matcher into
+// a predicate.
+template <typename M>
+class MatcherAsPredicate {
+ public:
+ explicit MatcherAsPredicate(M matcher) : matcher_(matcher) {}
+
+ // This template operator() allows Matches(m) to be used as a
+ // predicate on type T where m is a matcher on type T.
+ //
+ // The argument x is passed by reference instead of by value, as
+ // some matcher may be interested in its address (e.g. as in
+ // Matches(Ref(n))(x)).
+ template <typename T>
+ bool operator()(const T& x) const {
+ // We let matcher_ commit to a particular type here instead of
+ // when the MatcherAsPredicate object was constructed. This
+ // allows us to write Matches(m) where m is a polymorphic matcher
+ // (e.g. Eq(5)).
+ //
+ // If we write Matcher<T>(matcher_).Matches(x) here, it won't
+ // compile when matcher_ has type Matcher<const T&>; if we write
+ // Matcher<const T&>(matcher_).Matches(x) here, it won't compile
+ // when matcher_ has type Matcher<T>; if we just write
+ // matcher_.Matches(x), it won't compile when matcher_ is
+ // polymorphic, e.g. Eq(5).
+ //
+ // MatcherCast<const T&>() is necessary for making the code work
+ // in all of the above situations.
+ return MatcherCast<const T&>(matcher_).Matches(x);
+ }
+
+ private:
+ M matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(MatcherAsPredicate);
+};
+
+// For implementing ASSERT_THAT() and EXPECT_THAT(). The template
+// argument M must be a type that can be converted to a matcher.
+template <typename M>
+class PredicateFormatterFromMatcher {
+ public:
+ explicit PredicateFormatterFromMatcher(const M& m) : matcher_(m) {}
+
+ // This template () operator allows a PredicateFormatterFromMatcher
+ // object to act as a predicate-formatter suitable for using with
+ // Google Test's EXPECT_PRED_FORMAT1() macro.
+ template <typename T>
+ AssertionResult operator()(const char* value_text, const T& x) const {
+ // We convert matcher_ to a Matcher<const T&> *now* instead of
+ // when the PredicateFormatterFromMatcher object was constructed,
+ // as matcher_ may be polymorphic (e.g. NotNull()) and we won't
+ // know which type to instantiate it to until we actually see the
+ // type of x here.
+ //
+ // We write MatcherCast<const T&>(matcher_) instead of
+ // Matcher<const T&>(matcher_), as the latter won't compile when
+ // matcher_ has type Matcher<T> (e.g. An<int>()).
+ const Matcher<const T&> matcher = MatcherCast<const T&>(matcher_);
+ StringMatchResultListener listener;
+ if (MatchPrintAndExplain(x, matcher, &listener))
+ return AssertionSuccess();
+
+ ::std::stringstream ss;
+ ss << "Value of: " << value_text << "\n"
+ << "Expected: ";
+ matcher.DescribeTo(&ss);
+ ss << "\n Actual: " << listener.str();
+ return AssertionFailure() << ss.str();
+ }
+
+ private:
+ const M matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(PredicateFormatterFromMatcher);
+};
+
+// A helper function for converting a matcher to a predicate-formatter
+// without the user needing to explicitly write the type. This is
+// used for implementing ASSERT_THAT() and EXPECT_THAT().
+template <typename M>
+inline PredicateFormatterFromMatcher<M>
+MakePredicateFormatterFromMatcher(const M& matcher) {
+ return PredicateFormatterFromMatcher<M>(matcher);
+}
+
+// Implements the polymorphic floating point equality matcher, which
+// matches two float values using ULP-based approximation. The
+// template is meant to be instantiated with FloatType being either
+// float or double.
+template <typename FloatType>
+class FloatingEqMatcher {
+ public:
+ // Constructor for FloatingEqMatcher.
+ // The matcher's input will be compared with rhs. The matcher treats two
+ // NANs as equal if nan_eq_nan is true. Otherwise, under IEEE standards,
+ // equality comparisons between NANs will always return false.
+ FloatingEqMatcher(FloatType rhs, bool nan_eq_nan) :
+ rhs_(rhs), nan_eq_nan_(nan_eq_nan) {}
+
+ // Implements floating point equality matcher as a Matcher<T>.
+ template <typename T>
+ class Impl : public MatcherInterface<T> {
+ public:
+ Impl(FloatType rhs, bool nan_eq_nan) :
+ rhs_(rhs), nan_eq_nan_(nan_eq_nan) {}
+
+ virtual bool MatchAndExplain(T value,
+ MatchResultListener* /* listener */) const {
+ const FloatingPoint<FloatType> lhs(value), rhs(rhs_);
+
+ // Compares NaNs first, if nan_eq_nan_ is true.
+ if (nan_eq_nan_ && lhs.is_nan()) {
+ return rhs.is_nan();
+ }
+
+ return lhs.AlmostEquals(rhs);
+ }
+
+ virtual void DescribeTo(::std::ostream* os) const {
+ // os->precision() returns the previously set precision, which we
+ // store to restore the ostream to its original configuration
+ // after outputting.
+ const ::std::streamsize old_precision = os->precision(
+ ::std::numeric_limits<FloatType>::digits10 + 2);
+ if (FloatingPoint<FloatType>(rhs_).is_nan()) {
+ if (nan_eq_nan_) {
+ *os << "is NaN";
+ } else {
+ *os << "never matches";
+ }
+ } else {
+ *os << "is approximately " << rhs_;
+ }
+ os->precision(old_precision);
+ }
+
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ // As before, get original precision.
+ const ::std::streamsize old_precision = os->precision(
+ ::std::numeric_limits<FloatType>::digits10 + 2);
+ if (FloatingPoint<FloatType>(rhs_).is_nan()) {
+ if (nan_eq_nan_) {
+ *os << "isn't NaN";
+ } else {
+ *os << "is anything";
+ }
+ } else {
+ *os << "isn't approximately " << rhs_;
+ }
+ // Restore original precision.
+ os->precision(old_precision);
+ }
+
+ private:
+ const FloatType rhs_;
+ const bool nan_eq_nan_;
+
+ GTEST_DISALLOW_ASSIGN_(Impl);
+ };
+
+ // The following 3 type conversion operators allow FloatEq(rhs) and
+ // NanSensitiveFloatEq(rhs) to be used as a Matcher<float>, a
+ // Matcher<const float&>, or a Matcher<float&>, but nothing else.
+ // (While Google's C++ coding style doesn't allow arguments passed
+ // by non-const reference, we may see them in code not conforming to
+ // the style. Therefore Google Mock needs to support them.)
+ operator Matcher<FloatType>() const {
+ return MakeMatcher(new Impl<FloatType>(rhs_, nan_eq_nan_));
+ }
+
+ operator Matcher<const FloatType&>() const {
+ return MakeMatcher(new Impl<const FloatType&>(rhs_, nan_eq_nan_));
+ }
+
+ operator Matcher<FloatType&>() const {
+ return MakeMatcher(new Impl<FloatType&>(rhs_, nan_eq_nan_));
+ }
+ private:
+ const FloatType rhs_;
+ const bool nan_eq_nan_;
+
+ GTEST_DISALLOW_ASSIGN_(FloatingEqMatcher);
+};
+
+// Implements the Pointee(m) matcher for matching a pointer whose
+// pointee matches matcher m. The pointer can be either raw or smart.
+template <typename InnerMatcher>
+class PointeeMatcher {
+ public:
+ explicit PointeeMatcher(const InnerMatcher& matcher) : matcher_(matcher) {}
+
+ // This type conversion operator template allows Pointee(m) to be
+ // used as a matcher for any pointer type whose pointee type is
+ // compatible with the inner matcher, where type Pointer can be
+ // either a raw pointer or a smart pointer.
+ //
+ // The reason we do this instead of relying on
+ // MakePolymorphicMatcher() is that the latter is not flexible
+ // enough for implementing the DescribeTo() method of Pointee().
+ template <typename Pointer>
+ operator Matcher<Pointer>() const {
+ return MakeMatcher(new Impl<Pointer>(matcher_));
+ }
+
+ private:
+ // The monomorphic implementation that works for a particular pointer type.
+ template <typename Pointer>
+ class Impl : public MatcherInterface<Pointer> {
+ public:
+ typedef typename PointeeOf<GTEST_REMOVE_CONST_( // NOLINT
+ GTEST_REMOVE_REFERENCE_(Pointer))>::type Pointee;
+
+ explicit Impl(const InnerMatcher& matcher)
+ : matcher_(MatcherCast<const Pointee&>(matcher)) {}
+
+ virtual void DescribeTo(::std::ostream* os) const {
+ *os << "points to a value that ";
+ matcher_.DescribeTo(os);
+ }
+
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ *os << "does not point to a value that ";
+ matcher_.DescribeTo(os);
+ }
+
+ virtual bool MatchAndExplain(Pointer pointer,
+ MatchResultListener* listener) const {
+ if (GetRawPointer(pointer) == NULL)
+ return false;
+
+ *listener << "which points to ";
+ return MatchPrintAndExplain(*pointer, matcher_, listener);
+ }
+
+ private:
+ const Matcher<const Pointee&> matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(Impl);
+ };
+
+ const InnerMatcher matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(PointeeMatcher);
+};
+
+// Implements the Field() matcher for matching a field (i.e. member
+// variable) of an object.
+template <typename Class, typename FieldType>
+class FieldMatcher {
+ public:
+ FieldMatcher(FieldType Class::*field,
+ const Matcher<const FieldType&>& matcher)
+ : field_(field), matcher_(matcher) {}
+
+ void DescribeTo(::std::ostream* os) const {
+ *os << "is an object whose given field ";
+ matcher_.DescribeTo(os);
+ }
+
+ void DescribeNegationTo(::std::ostream* os) const {
+ *os << "is an object whose given field ";
+ matcher_.DescribeNegationTo(os);
+ }
+
+ template <typename T>
+ bool MatchAndExplain(const T& value, MatchResultListener* listener) const {
+ return MatchAndExplainImpl(
+ typename ::testing::internal::
+ is_pointer<GTEST_REMOVE_CONST_(T)>::type(),
+ value, listener);
+ }
+
+ private:
+ // The first argument of MatchAndExplainImpl() is needed to help
+ // Symbian's C++ compiler choose which overload to use. Its type is
+ // true_type iff the Field() matcher is used to match a pointer.
+ bool MatchAndExplainImpl(false_type /* is_not_pointer */, const Class& obj,
+ MatchResultListener* listener) const {
+ *listener << "whose given field is ";
+ return MatchPrintAndExplain(obj.*field_, matcher_, listener);
+ }
+
+ bool MatchAndExplainImpl(true_type /* is_pointer */, const Class* p,
+ MatchResultListener* listener) const {
+ if (p == NULL)
+ return false;
+
+ *listener << "which points to an object ";
+ // Since *p has a field, it must be a class/struct/union type and
+ // thus cannot be a pointer. Therefore we pass false_type() as
+ // the first argument.
+ return MatchAndExplainImpl(false_type(), *p, listener);
+ }
+
+ const FieldType Class::*field_;
+ const Matcher<const FieldType&> matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(FieldMatcher);
+};
+
+// Implements the Property() matcher for matching a property
+// (i.e. return value of a getter method) of an object.
+template <typename Class, typename PropertyType>
+class PropertyMatcher {
+ public:
+ // The property may have a reference type, so 'const PropertyType&'
+ // may cause double references and fail to compile. That's why we
+ // need GTEST_REFERENCE_TO_CONST, which works regardless of
+ // PropertyType being a reference or not.
+ typedef GTEST_REFERENCE_TO_CONST_(PropertyType) RefToConstProperty;
+
+ PropertyMatcher(PropertyType (Class::*property)() const,
+ const Matcher<RefToConstProperty>& matcher)
+ : property_(property), matcher_(matcher) {}
+
+ void DescribeTo(::std::ostream* os) const {
+ *os << "is an object whose given property ";
+ matcher_.DescribeTo(os);
+ }
+
+ void DescribeNegationTo(::std::ostream* os) const {
+ *os << "is an object whose given property ";
+ matcher_.DescribeNegationTo(os);
+ }
+
+ template <typename T>
+ bool MatchAndExplain(const T&value, MatchResultListener* listener) const {
+ return MatchAndExplainImpl(
+ typename ::testing::internal::
+ is_pointer<GTEST_REMOVE_CONST_(T)>::type(),
+ value, listener);
+ }
+
+ private:
+ // The first argument of MatchAndExplainImpl() is needed to help
+ // Symbian's C++ compiler choose which overload to use. Its type is
+ // true_type iff the Property() matcher is used to match a pointer.
+ bool MatchAndExplainImpl(false_type /* is_not_pointer */, const Class& obj,
+ MatchResultListener* listener) const {
+ *listener << "whose given property is ";
+ // Cannot pass the return value (for example, int) to MatchPrintAndExplain,
+ // which takes a non-const reference as argument.
+ RefToConstProperty result = (obj.*property_)();
+ return MatchPrintAndExplain(result, matcher_, listener);
+ }
+
+ bool MatchAndExplainImpl(true_type /* is_pointer */, const Class* p,
+ MatchResultListener* listener) const {
+ if (p == NULL)
+ return false;
+
+ *listener << "which points to an object ";
+ // Since *p has a property method, it must be a class/struct/union
+ // type and thus cannot be a pointer. Therefore we pass
+ // false_type() as the first argument.
+ return MatchAndExplainImpl(false_type(), *p, listener);
+ }
+
+ PropertyType (Class::*property_)() const;
+ const Matcher<RefToConstProperty> matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(PropertyMatcher);
+};
+
+// Type traits specifying various features of different functors for ResultOf.
+// The default template specifies features for functor objects.
+// Functor classes have to typedef argument_type and result_type
+// to be compatible with ResultOf.
+template <typename Functor>
+struct CallableTraits {
+ typedef typename Functor::result_type ResultType;
+ typedef Functor StorageType;
+
+ static void CheckIsValid(Functor /* functor */) {}
+ template <typename T>
+ static ResultType Invoke(Functor f, T arg) { return f(arg); }
+};
+
+// Specialization for function pointers.
+template <typename ArgType, typename ResType>
+struct CallableTraits<ResType(*)(ArgType)> {
+ typedef ResType ResultType;
+ typedef ResType(*StorageType)(ArgType);
+
+ static void CheckIsValid(ResType(*f)(ArgType)) {
+ GTEST_CHECK_(f != NULL)
+ << "NULL function pointer is passed into ResultOf().";
+ }
+ template <typename T>
+ static ResType Invoke(ResType(*f)(ArgType), T arg) {
+ return (*f)(arg);
+ }
+};
+
+// Implements the ResultOf() matcher for matching a return value of a
+// unary function of an object.
+template <typename Callable>
+class ResultOfMatcher {
+ public:
+ typedef typename CallableTraits<Callable>::ResultType ResultType;
+
+ ResultOfMatcher(Callable callable, const Matcher<ResultType>& matcher)
+ : callable_(callable), matcher_(matcher) {
+ CallableTraits<Callable>::CheckIsValid(callable_);
+ }
+
+ template <typename T>
+ operator Matcher<T>() const {
+ return Matcher<T>(new Impl<T>(callable_, matcher_));
+ }
+
+ private:
+ typedef typename CallableTraits<Callable>::StorageType CallableStorageType;
+
+ template <typename T>
+ class Impl : public MatcherInterface<T> {
+ public:
+ Impl(CallableStorageType callable, const Matcher<ResultType>& matcher)
+ : callable_(callable), matcher_(matcher) {}
+
+ virtual void DescribeTo(::std::ostream* os) const {
+ *os << "is mapped by the given callable to a value that ";
+ matcher_.DescribeTo(os);
+ }
+
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ *os << "is mapped by the given callable to a value that ";
+ matcher_.DescribeNegationTo(os);
+ }
+
+ virtual bool MatchAndExplain(T obj, MatchResultListener* listener) const {
+ *listener << "which is mapped by the given callable to ";
+ // Cannot pass the return value (for example, int) to
+ // MatchPrintAndExplain, which takes a non-const reference as argument.
+ ResultType result =
+ CallableTraits<Callable>::template Invoke<T>(callable_, obj);
+ return MatchPrintAndExplain(result, matcher_, listener);
+ }
+
+ private:
+ // Functors often define operator() as non-const method even though
+ // they are actualy stateless. But we need to use them even when
+ // 'this' is a const pointer. It's the user's responsibility not to
+ // use stateful callables with ResultOf(), which does't guarantee
+ // how many times the callable will be invoked.
+ mutable CallableStorageType callable_;
+ const Matcher<ResultType> matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(Impl);
+ }; // class Impl
+
+ const CallableStorageType callable_;
+ const Matcher<ResultType> matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(ResultOfMatcher);
+};
+
+// Implements an equality matcher for any STL-style container whose elements
+// support ==. This matcher is like Eq(), but its failure explanations provide
+// more detailed information that is useful when the container is used as a set.
+// The failure message reports elements that are in one of the operands but not
+// the other. The failure messages do not report duplicate or out-of-order
+// elements in the containers (which don't properly matter to sets, but can
+// occur if the containers are vectors or lists, for example).
+//
+// Uses the container's const_iterator, value_type, operator ==,
+// begin(), and end().
+template <typename Container>
+class ContainerEqMatcher {
+ public:
+ typedef internal::StlContainerView<Container> View;
+ typedef typename View::type StlContainer;
+ typedef typename View::const_reference StlContainerReference;
+
+ // We make a copy of rhs in case the elements in it are modified
+ // after this matcher is created.
+ explicit ContainerEqMatcher(const Container& rhs) : rhs_(View::Copy(rhs)) {
+ // Makes sure the user doesn't instantiate this class template
+ // with a const or reference type.
+ (void)testing::StaticAssertTypeEq<Container,
+ GTEST_REMOVE_REFERENCE_AND_CONST_(Container)>();
+ }
+
+ void DescribeTo(::std::ostream* os) const {
+ *os << "equals ";
+ UniversalPrint(rhs_, os);
+ }
+ void DescribeNegationTo(::std::ostream* os) const {
+ *os << "does not equal ";
+ UniversalPrint(rhs_, os);
+ }
+
+ template <typename LhsContainer>
+ bool MatchAndExplain(const LhsContainer& lhs,
+ MatchResultListener* listener) const {
+ // GTEST_REMOVE_CONST_() is needed to work around an MSVC 8.0 bug
+ // that causes LhsContainer to be a const type sometimes.
+ typedef internal::StlContainerView<GTEST_REMOVE_CONST_(LhsContainer)>
+ LhsView;
+ typedef typename LhsView::type LhsStlContainer;
+ StlContainerReference lhs_stl_container = LhsView::ConstReference(lhs);
+ if (lhs_stl_container == rhs_)
+ return true;
+
+ ::std::ostream* const os = listener->stream();
+ if (os != NULL) {
+ // Something is different. Check for extra values first.
+ bool printed_header = false;
+ for (typename LhsStlContainer::const_iterator it =
+ lhs_stl_container.begin();
+ it != lhs_stl_container.end(); ++it) {
+ if (internal::ArrayAwareFind(rhs_.begin(), rhs_.end(), *it) ==
+ rhs_.end()) {
+ if (printed_header) {
+ *os << ", ";
+ } else {
+ *os << "which has these unexpected elements: ";
+ printed_header = true;
+ }
+ UniversalPrint(*it, os);
+ }
+ }
+
+ // Now check for missing values.
+ bool printed_header2 = false;
+ for (typename StlContainer::const_iterator it = rhs_.begin();
+ it != rhs_.end(); ++it) {
+ if (internal::ArrayAwareFind(
+ lhs_stl_container.begin(), lhs_stl_container.end(), *it) ==
+ lhs_stl_container.end()) {
+ if (printed_header2) {
+ *os << ", ";
+ } else {
+ *os << (printed_header ? ",\nand" : "which")
+ << " doesn't have these expected elements: ";
+ printed_header2 = true;
+ }
+ UniversalPrint(*it, os);
+ }
+ }
+ }
+
+ return false;
+ }
+
+ private:
+ const StlContainer rhs_;
+
+ GTEST_DISALLOW_ASSIGN_(ContainerEqMatcher);
+};
+
+// Implements Pointwise(tuple_matcher, rhs_container). tuple_matcher
+// must be able to be safely cast to Matcher<tuple<const T1&, const
+// T2&> >, where T1 and T2 are the types of elements in the LHS
+// container and the RHS container respectively.
+template <typename TupleMatcher, typename RhsContainer>
+class PointwiseMatcher {
+ public:
+ typedef internal::StlContainerView<RhsContainer> RhsView;
+ typedef typename RhsView::type RhsStlContainer;
+ typedef typename RhsStlContainer::value_type RhsValue;
+
+ // Like ContainerEq, we make a copy of rhs in case the elements in
+ // it are modified after this matcher is created.
+ PointwiseMatcher(const TupleMatcher& tuple_matcher, const RhsContainer& rhs)
+ : tuple_matcher_(tuple_matcher), rhs_(RhsView::Copy(rhs)) {
+ // Makes sure the user doesn't instantiate this class template
+ // with a const or reference type.
+ (void)testing::StaticAssertTypeEq<RhsContainer,
+ GTEST_REMOVE_REFERENCE_AND_CONST_(RhsContainer)>();
+ }
+
+ template <typename LhsContainer>
+ operator Matcher<LhsContainer>() const {
+ return MakeMatcher(new Impl<LhsContainer>(tuple_matcher_, rhs_));
+ }
+
+ template <typename LhsContainer>
+ class Impl : public MatcherInterface<LhsContainer> {
+ public:
+ typedef internal::StlContainerView<
+ GTEST_REMOVE_REFERENCE_AND_CONST_(LhsContainer)> LhsView;
+ typedef typename LhsView::type LhsStlContainer;
+ typedef typename LhsView::const_reference LhsStlContainerReference;
+ typedef typename LhsStlContainer::value_type LhsValue;
+ // We pass the LHS value and the RHS value to the inner matcher by
+ // reference, as they may be expensive to copy. We must use tuple
+ // instead of pair here, as a pair cannot hold references (C++ 98,
+ // 20.2.2 [lib.pairs]).
+ typedef std::tr1::tuple<const LhsValue&, const RhsValue&> InnerMatcherArg;
+
+ Impl(const TupleMatcher& tuple_matcher, const RhsStlContainer& rhs)
+ // mono_tuple_matcher_ holds a monomorphic version of the tuple matcher.
+ : mono_tuple_matcher_(SafeMatcherCast<InnerMatcherArg>(tuple_matcher)),
+ rhs_(rhs) {}
+
+ virtual void DescribeTo(::std::ostream* os) const {
+ *os << "contains " << rhs_.size()
+ << " values, where each value and its corresponding value in ";
+ UniversalPrinter<RhsStlContainer>::Print(rhs_, os);
+ *os << " ";
+ mono_tuple_matcher_.DescribeTo(os);
+ }
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ *os << "doesn't contain exactly " << rhs_.size()
+ << " values, or contains a value x at some index i"
+ << " where x and the i-th value of ";
+ UniversalPrint(rhs_, os);
+ *os << " ";
+ mono_tuple_matcher_.DescribeNegationTo(os);
+ }
+
+ virtual bool MatchAndExplain(LhsContainer lhs,
+ MatchResultListener* listener) const {
+ LhsStlContainerReference lhs_stl_container = LhsView::ConstReference(lhs);
+ const size_t actual_size = lhs_stl_container.size();
+ if (actual_size != rhs_.size()) {
+ *listener << "which contains " << actual_size << " values";
+ return false;
+ }
+
+ typename LhsStlContainer::const_iterator left = lhs_stl_container.begin();
+ typename RhsStlContainer::const_iterator right = rhs_.begin();
+ for (size_t i = 0; i != actual_size; ++i, ++left, ++right) {
+ const InnerMatcherArg value_pair(*left, *right);
+
+ if (listener->IsInterested()) {
+ StringMatchResultListener inner_listener;
+ if (!mono_tuple_matcher_.MatchAndExplain(
+ value_pair, &inner_listener)) {
+ *listener << "where the value pair (";
+ UniversalPrint(*left, listener->stream());
+ *listener << ", ";
+ UniversalPrint(*right, listener->stream());
+ *listener << ") at index #" << i << " don't match";
+ PrintIfNotEmpty(inner_listener.str(), listener->stream());
+ return false;
+ }
+ } else {
+ if (!mono_tuple_matcher_.Matches(value_pair))
+ return false;
+ }
+ }
+
+ return true;
+ }
+
+ private:
+ const Matcher<InnerMatcherArg> mono_tuple_matcher_;
+ const RhsStlContainer rhs_;
+
+ GTEST_DISALLOW_ASSIGN_(Impl);
+ };
+
+ private:
+ const TupleMatcher tuple_matcher_;
+ const RhsStlContainer rhs_;
+
+ GTEST_DISALLOW_ASSIGN_(PointwiseMatcher);
+};
+
+// Holds the logic common to ContainsMatcherImpl and EachMatcherImpl.
+template <typename Container>
+class QuantifierMatcherImpl : public MatcherInterface<Container> {
+ public:
+ typedef GTEST_REMOVE_REFERENCE_AND_CONST_(Container) RawContainer;
+ typedef StlContainerView<RawContainer> View;
+ typedef typename View::type StlContainer;
+ typedef typename View::const_reference StlContainerReference;
+ typedef typename StlContainer::value_type Element;
+
+ template <typename InnerMatcher>
+ explicit QuantifierMatcherImpl(InnerMatcher inner_matcher)
+ : inner_matcher_(
+ testing::SafeMatcherCast<const Element&>(inner_matcher)) {}
+
+ // Checks whether:
+ // * All elements in the container match, if all_elements_should_match.
+ // * Any element in the container matches, if !all_elements_should_match.
+ bool MatchAndExplainImpl(bool all_elements_should_match,
+ Container container,
+ MatchResultListener* listener) const {
+ StlContainerReference stl_container = View::ConstReference(container);
+ size_t i = 0;
+ for (typename StlContainer::const_iterator it = stl_container.begin();
+ it != stl_container.end(); ++it, ++i) {
+ StringMatchResultListener inner_listener;
+ const bool matches = inner_matcher_.MatchAndExplain(*it, &inner_listener);
+
+ if (matches != all_elements_should_match) {
+ *listener << "whose element #" << i
+ << (matches ? " matches" : " doesn't match");
+ PrintIfNotEmpty(inner_listener.str(), listener->stream());
+ return !all_elements_should_match;
+ }
+ }
+ return all_elements_should_match;
+ }
+
+ protected:
+ const Matcher<const Element&> inner_matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(QuantifierMatcherImpl);
+};
+
+// Implements Contains(element_matcher) for the given argument type Container.
+// Symmetric to EachMatcherImpl.
+template <typename Container>
+class ContainsMatcherImpl : public QuantifierMatcherImpl<Container> {
+ public:
+ template <typename InnerMatcher>
+ explicit ContainsMatcherImpl(InnerMatcher inner_matcher)
+ : QuantifierMatcherImpl<Container>(inner_matcher) {}
+
+ // Describes what this matcher does.
+ virtual void DescribeTo(::std::ostream* os) const {
+ *os << "contains at least one element that ";
+ this->inner_matcher_.DescribeTo(os);
+ }
+
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ *os << "doesn't contain any element that ";
+ this->inner_matcher_.DescribeTo(os);
+ }
+
+ virtual bool MatchAndExplain(Container container,
+ MatchResultListener* listener) const {
+ return this->MatchAndExplainImpl(false, container, listener);
+ }
+
+ private:
+ GTEST_DISALLOW_ASSIGN_(ContainsMatcherImpl);
+};
+
+// Implements Each(element_matcher) for the given argument type Container.
+// Symmetric to ContainsMatcherImpl.
+template <typename Container>
+class EachMatcherImpl : public QuantifierMatcherImpl<Container> {
+ public:
+ template <typename InnerMatcher>
+ explicit EachMatcherImpl(InnerMatcher inner_matcher)
+ : QuantifierMatcherImpl<Container>(inner_matcher) {}
+
+ // Describes what this matcher does.
+ virtual void DescribeTo(::std::ostream* os) const {
+ *os << "only contains elements that ";
+ this->inner_matcher_.DescribeTo(os);
+ }
+
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ *os << "contains some element that ";
+ this->inner_matcher_.DescribeNegationTo(os);
+ }
+
+ virtual bool MatchAndExplain(Container container,
+ MatchResultListener* listener) const {
+ return this->MatchAndExplainImpl(true, container, listener);
+ }
+
+ private:
+ GTEST_DISALLOW_ASSIGN_(EachMatcherImpl);
+};
+
+// Implements polymorphic Contains(element_matcher).
+template <typename M>
+class ContainsMatcher {
+ public:
+ explicit ContainsMatcher(M m) : inner_matcher_(m) {}
+
+ template <typename Container>
+ operator Matcher<Container>() const {
+ return MakeMatcher(new ContainsMatcherImpl<Container>(inner_matcher_));
+ }
+
+ private:
+ const M inner_matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(ContainsMatcher);
+};
+
+// Implements polymorphic Each(element_matcher).
+template <typename M>
+class EachMatcher {
+ public:
+ explicit EachMatcher(M m) : inner_matcher_(m) {}
+
+ template <typename Container>
+ operator Matcher<Container>() const {
+ return MakeMatcher(new EachMatcherImpl<Container>(inner_matcher_));
+ }
+
+ private:
+ const M inner_matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(EachMatcher);
+};
+
+// Implements Key(inner_matcher) for the given argument pair type.
+// Key(inner_matcher) matches an std::pair whose 'first' field matches
+// inner_matcher. For example, Contains(Key(Ge(5))) can be used to match an
+// std::map that contains at least one element whose key is >= 5.
+template <typename PairType>
+class KeyMatcherImpl : public MatcherInterface<PairType> {
+ public:
+ typedef GTEST_REMOVE_REFERENCE_AND_CONST_(PairType) RawPairType;
+ typedef typename RawPairType::first_type KeyType;
+
+ template <typename InnerMatcher>
+ explicit KeyMatcherImpl(InnerMatcher inner_matcher)
+ : inner_matcher_(
+ testing::SafeMatcherCast<const KeyType&>(inner_matcher)) {
+ }
+
+ // Returns true iff 'key_value.first' (the key) matches the inner matcher.
+ virtual bool MatchAndExplain(PairType key_value,
+ MatchResultListener* listener) const {
+ StringMatchResultListener inner_listener;
+ const bool match = inner_matcher_.MatchAndExplain(key_value.first,
+ &inner_listener);
+ const internal::string explanation = inner_listener.str();
+ if (explanation != "") {
+ *listener << "whose first field is a value " << explanation;
+ }
+ return match;
+ }
+
+ // Describes what this matcher does.
+ virtual void DescribeTo(::std::ostream* os) const {
+ *os << "has a key that ";
+ inner_matcher_.DescribeTo(os);
+ }
+
+ // Describes what the negation of this matcher does.
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ *os << "doesn't have a key that ";
+ inner_matcher_.DescribeTo(os);
+ }
+
+ private:
+ const Matcher<const KeyType&> inner_matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(KeyMatcherImpl);
+};
+
+// Implements polymorphic Key(matcher_for_key).
+template <typename M>
+class KeyMatcher {
+ public:
+ explicit KeyMatcher(M m) : matcher_for_key_(m) {}
+
+ template <typename PairType>
+ operator Matcher<PairType>() const {
+ return MakeMatcher(new KeyMatcherImpl<PairType>(matcher_for_key_));
+ }
+
+ private:
+ const M matcher_for_key_;
+
+ GTEST_DISALLOW_ASSIGN_(KeyMatcher);
+};
+
+// Implements Pair(first_matcher, second_matcher) for the given argument pair
+// type with its two matchers. See Pair() function below.
+template <typename PairType>
+class PairMatcherImpl : public MatcherInterface<PairType> {
+ public:
+ typedef GTEST_REMOVE_REFERENCE_AND_CONST_(PairType) RawPairType;
+ typedef typename RawPairType::first_type FirstType;
+ typedef typename RawPairType::second_type SecondType;
+
+ template <typename FirstMatcher, typename SecondMatcher>
+ PairMatcherImpl(FirstMatcher first_matcher, SecondMatcher second_matcher)
+ : first_matcher_(
+ testing::SafeMatcherCast<const FirstType&>(first_matcher)),
+ second_matcher_(
+ testing::SafeMatcherCast<const SecondType&>(second_matcher)) {
+ }
+
+ // Describes what this matcher does.
+ virtual void DescribeTo(::std::ostream* os) const {
+ *os << "has a first field that ";
+ first_matcher_.DescribeTo(os);
+ *os << ", and has a second field that ";
+ second_matcher_.DescribeTo(os);
+ }
+
+ // Describes what the negation of this matcher does.
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ *os << "has a first field that ";
+ first_matcher_.DescribeNegationTo(os);
+ *os << ", or has a second field that ";
+ second_matcher_.DescribeNegationTo(os);
+ }
+
+ // Returns true iff 'a_pair.first' matches first_matcher and 'a_pair.second'
+ // matches second_matcher.
+ virtual bool MatchAndExplain(PairType a_pair,
+ MatchResultListener* listener) const {
+ if (!listener->IsInterested()) {
+ // If the listener is not interested, we don't need to construct the
+ // explanation.
+ return first_matcher_.Matches(a_pair.first) &&
+ second_matcher_.Matches(a_pair.second);
+ }
+ StringMatchResultListener first_inner_listener;
+ if (!first_matcher_.MatchAndExplain(a_pair.first,
+ &first_inner_listener)) {
+ *listener << "whose first field does not match";
+ PrintIfNotEmpty(first_inner_listener.str(), listener->stream());
+ return false;
+ }
+ StringMatchResultListener second_inner_listener;
+ if (!second_matcher_.MatchAndExplain(a_pair.second,
+ &second_inner_listener)) {
+ *listener << "whose second field does not match";
+ PrintIfNotEmpty(second_inner_listener.str(), listener->stream());
+ return false;
+ }
+ ExplainSuccess(first_inner_listener.str(), second_inner_listener.str(),
+ listener);
+ return true;
+ }
+
+ private:
+ void ExplainSuccess(const internal::string& first_explanation,
+ const internal::string& second_explanation,
+ MatchResultListener* listener) const {
+ *listener << "whose both fields match";
+ if (first_explanation != "") {
+ *listener << ", where the first field is a value " << first_explanation;
+ }
+ if (second_explanation != "") {
+ *listener << ", ";
+ if (first_explanation != "") {
+ *listener << "and ";
+ } else {
+ *listener << "where ";
+ }
+ *listener << "the second field is a value " << second_explanation;
+ }
+ }
+
+ const Matcher<const FirstType&> first_matcher_;
+ const Matcher<const SecondType&> second_matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(PairMatcherImpl);
+};
+
+// Implements polymorphic Pair(first_matcher, second_matcher).
+template <typename FirstMatcher, typename SecondMatcher>
+class PairMatcher {
+ public:
+ PairMatcher(FirstMatcher first_matcher, SecondMatcher second_matcher)
+ : first_matcher_(first_matcher), second_matcher_(second_matcher) {}
+
+ template <typename PairType>
+ operator Matcher<PairType> () const {
+ return MakeMatcher(
+ new PairMatcherImpl<PairType>(
+ first_matcher_, second_matcher_));
+ }
+
+ private:
+ const FirstMatcher first_matcher_;
+ const SecondMatcher second_matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(PairMatcher);
+};
+
+// Implements ElementsAre() and ElementsAreArray().
+template <typename Container>
+class ElementsAreMatcherImpl : public MatcherInterface<Container> {
+ public:
+ typedef GTEST_REMOVE_REFERENCE_AND_CONST_(Container) RawContainer;
+ typedef internal::StlContainerView<RawContainer> View;
+ typedef typename View::type StlContainer;
+ typedef typename View::const_reference StlContainerReference;
+ typedef typename StlContainer::value_type Element;
+
+ // Constructs the matcher from a sequence of element values or
+ // element matchers.
+ template <typename InputIter>
+ ElementsAreMatcherImpl(InputIter first, size_t a_count) {
+ matchers_.reserve(a_count);
+ InputIter it = first;
+ for (size_t i = 0; i != a_count; ++i, ++it) {
+ matchers_.push_back(MatcherCast<const Element&>(*it));
+ }
+ }
+
+ // Describes what this matcher does.
+ virtual void DescribeTo(::std::ostream* os) const {
+ if (count() == 0) {
+ *os << "is empty";
+ } else if (count() == 1) {
+ *os << "has 1 element that ";
+ matchers_[0].DescribeTo(os);
+ } else {
+ *os << "has " << Elements(count()) << " where\n";
+ for (size_t i = 0; i != count(); ++i) {
+ *os << "element #" << i << " ";
+ matchers_[i].DescribeTo(os);
+ if (i + 1 < count()) {
+ *os << ",\n";
+ }
+ }
+ }
+ }
+
+ // Describes what the negation of this matcher does.
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ if (count() == 0) {
+ *os << "isn't empty";
+ return;
+ }
+
+ *os << "doesn't have " << Elements(count()) << ", or\n";
+ for (size_t i = 0; i != count(); ++i) {
+ *os << "element #" << i << " ";
+ matchers_[i].DescribeNegationTo(os);
+ if (i + 1 < count()) {
+ *os << ", or\n";
+ }
+ }
+ }
+
+ virtual bool MatchAndExplain(Container container,
+ MatchResultListener* listener) const {
+ StlContainerReference stl_container = View::ConstReference(container);
+ const size_t actual_count = stl_container.size();
+ if (actual_count != count()) {
+ // The element count doesn't match. If the container is empty,
+ // there's no need to explain anything as Google Mock already
+ // prints the empty container. Otherwise we just need to show
+ // how many elements there actually are.
+ if (actual_count != 0) {
+ *listener << "which has " << Elements(actual_count);
+ }
+ return false;
+ }
+
+ typename StlContainer::const_iterator it = stl_container.begin();
+ // explanations[i] is the explanation of the element at index i.
+ std::vector<internal::string> explanations(count());
+ for (size_t i = 0; i != count(); ++it, ++i) {
+ StringMatchResultListener s;
+ if (matchers_[i].MatchAndExplain(*it, &s)) {
+ explanations[i] = s.str();
+ } else {
+ // The container has the right size but the i-th element
+ // doesn't match its expectation.
+ *listener << "whose element #" << i << " doesn't match";
+ PrintIfNotEmpty(s.str(), listener->stream());
+ return false;
+ }
+ }
+
+ // Every element matches its expectation. We need to explain why
+ // (the obvious ones can be skipped).
+ bool reason_printed = false;
+ for (size_t i = 0; i != count(); ++i) {
+ const internal::string& s = explanations[i];
+ if (!s.empty()) {
+ if (reason_printed) {
+ *listener << ",\nand ";
+ }
+ *listener << "whose element #" << i << " matches, " << s;
+ reason_printed = true;
+ }
+ }
+
+ return true;
+ }
+
+ private:
+ static Message Elements(size_t count) {
+ return Message() << count << (count == 1 ? " element" : " elements");
+ }
+
+ size_t count() const { return matchers_.size(); }
+ std::vector<Matcher<const Element&> > matchers_;
+
+ GTEST_DISALLOW_ASSIGN_(ElementsAreMatcherImpl);
+};
+
+// Implements ElementsAre() of 0 arguments.
+class ElementsAreMatcher0 {
+ public:
+ ElementsAreMatcher0() {}
+
+ template <typename Container>
+ operator Matcher<Container>() const {
+ typedef GTEST_REMOVE_REFERENCE_AND_CONST_(Container) RawContainer;
+ typedef typename internal::StlContainerView<RawContainer>::type::value_type
+ Element;
+
+ const Matcher<const Element&>* const matchers = NULL;
+ return MakeMatcher(new ElementsAreMatcherImpl<Container>(matchers, 0));
+ }
+};
+
+// Implements ElementsAreArray().
+template <typename T>
+class ElementsAreArrayMatcher {
+ public:
+ ElementsAreArrayMatcher(const T* first, size_t count) :
+ first_(first), count_(count) {}
+
+ template <typename Container>
+ operator Matcher<Container>() const {
+ typedef GTEST_REMOVE_REFERENCE_AND_CONST_(Container) RawContainer;
+ typedef typename internal::StlContainerView<RawContainer>::type::value_type
+ Element;
+
+ return MakeMatcher(new ElementsAreMatcherImpl<Container>(first_, count_));
+ }
+
+ private:
+ const T* const first_;
+ const size_t count_;
+
+ GTEST_DISALLOW_ASSIGN_(ElementsAreArrayMatcher);
+};
+
+// Returns the description for a matcher defined using the MATCHER*()
+// macro where the user-supplied description string is "", if
+// 'negation' is false; otherwise returns the description of the
+// negation of the matcher. 'param_values' contains a list of strings
+// that are the print-out of the matcher's parameters.
+string FormatMatcherDescription(bool negation, const char* matcher_name,
+ const Strings& param_values);
+
+} // namespace internal
+
+// Implements MatcherCast().
+template <typename T, typename M>
+inline Matcher<T> MatcherCast(M matcher) {
+ return internal::MatcherCastImpl<T, M>::Cast(matcher);
+}
+
+// _ is a matcher that matches anything of any type.
+//
+// This definition is fine as:
+//
+// 1. The C++ standard permits using the name _ in a namespace that
+// is not the global namespace or ::std.
+// 2. The AnythingMatcher class has no data member or constructor,
+// so it's OK to create global variables of this type.
+// 3. c-style has approved of using _ in this case.
+const internal::AnythingMatcher _ = {};
+// Creates a matcher that matches any value of the given type T.
+template <typename T>
+inline Matcher<T> A() { return MakeMatcher(new internal::AnyMatcherImpl<T>()); }
+
+// Creates a matcher that matches any value of the given type T.
+template <typename T>
+inline Matcher<T> An() { return A<T>(); }
+
+// Creates a polymorphic matcher that matches anything equal to x.
+// Note: if the parameter of Eq() were declared as const T&, Eq("foo")
+// wouldn't compile.
+template <typename T>
+inline internal::EqMatcher<T> Eq(T x) { return internal::EqMatcher<T>(x); }
+
+// Constructs a Matcher<T> from a 'value' of type T. The constructed
+// matcher matches any value that's equal to 'value'.
+template <typename T>
+Matcher<T>::Matcher(T value) { *this = Eq(value); }
+
+// Creates a monomorphic matcher that matches anything with type Lhs
+// and equal to rhs. A user may need to use this instead of Eq(...)
+// in order to resolve an overloading ambiguity.
+//
+// TypedEq<T>(x) is just a convenient short-hand for Matcher<T>(Eq(x))
+// or Matcher<T>(x), but more readable than the latter.
+//
+// We could define similar monomorphic matchers for other comparison
+// operations (e.g. TypedLt, TypedGe, and etc), but decided not to do
+// it yet as those are used much less than Eq() in practice. A user
+// can always write Matcher<T>(Lt(5)) to be explicit about the type,
+// for example.
+template <typename Lhs, typename Rhs>
+inline Matcher<Lhs> TypedEq(const Rhs& rhs) { return Eq(rhs); }
+
+// Creates a polymorphic matcher that matches anything >= x.
+template <typename Rhs>
+inline internal::GeMatcher<Rhs> Ge(Rhs x) {
+ return internal::GeMatcher<Rhs>(x);
+}
+
+// Creates a polymorphic matcher that matches anything > x.
+template <typename Rhs>
+inline internal::GtMatcher<Rhs> Gt(Rhs x) {
+ return internal::GtMatcher<Rhs>(x);
+}
+
+// Creates a polymorphic matcher that matches anything <= x.
+template <typename Rhs>
+inline internal::LeMatcher<Rhs> Le(Rhs x) {
+ return internal::LeMatcher<Rhs>(x);
+}
+
+// Creates a polymorphic matcher that matches anything < x.
+template <typename Rhs>
+inline internal::LtMatcher<Rhs> Lt(Rhs x) {
+ return internal::LtMatcher<Rhs>(x);
+}
+
+// Creates a polymorphic matcher that matches anything != x.
+template <typename Rhs>
+inline internal::NeMatcher<Rhs> Ne(Rhs x) {
+ return internal::NeMatcher<Rhs>(x);
+}
+
+// Creates a polymorphic matcher that matches any NULL pointer.
+inline PolymorphicMatcher<internal::IsNullMatcher > IsNull() {
+ return MakePolymorphicMatcher(internal::IsNullMatcher());
+}
+
+// Creates a polymorphic matcher that matches any non-NULL pointer.
+// This is convenient as Not(NULL) doesn't compile (the compiler
+// thinks that that expression is comparing a pointer with an integer).
+inline PolymorphicMatcher<internal::NotNullMatcher > NotNull() {
+ return MakePolymorphicMatcher(internal::NotNullMatcher());
+}
+
+// Creates a polymorphic matcher that matches any argument that
+// references variable x.
+template <typename T>
+inline internal::RefMatcher<T&> Ref(T& x) { // NOLINT
+ return internal::RefMatcher<T&>(x);
+}
+
+// Creates a matcher that matches any double argument approximately
+// equal to rhs, where two NANs are considered unequal.
+inline internal::FloatingEqMatcher<double> DoubleEq(double rhs) {
+ return internal::FloatingEqMatcher<double>(rhs, false);
+}
+
+// Creates a matcher that matches any double argument approximately
+// equal to rhs, including NaN values when rhs is NaN.
+inline internal::FloatingEqMatcher<double> NanSensitiveDoubleEq(double rhs) {
+ return internal::FloatingEqMatcher<double>(rhs, true);
+}
+
+// Creates a matcher that matches any float argument approximately
+// equal to rhs, where two NANs are considered unequal.
+inline internal::FloatingEqMatcher<float> FloatEq(float rhs) {
+ return internal::FloatingEqMatcher<float>(rhs, false);
+}
+
+// Creates a matcher that matches any double argument approximately
+// equal to rhs, including NaN values when rhs is NaN.
+inline internal::FloatingEqMatcher<float> NanSensitiveFloatEq(float rhs) {
+ return internal::FloatingEqMatcher<float>(rhs, true);
+}
+
+// Creates a matcher that matches a pointer (raw or smart) that points
+// to a value that matches inner_matcher.
+template <typename InnerMatcher>
+inline internal::PointeeMatcher<InnerMatcher> Pointee(
+ const InnerMatcher& inner_matcher) {
+ return internal::PointeeMatcher<InnerMatcher>(inner_matcher);
+}
+
+// Creates a matcher that matches an object whose given field matches
+// 'matcher'. For example,
+// Field(&Foo::number, Ge(5))
+// matches a Foo object x iff x.number >= 5.
+template <typename Class, typename FieldType, typename FieldMatcher>
+inline PolymorphicMatcher<
+ internal::FieldMatcher<Class, FieldType> > Field(
+ FieldType Class::*field, const FieldMatcher& matcher) {
+ return MakePolymorphicMatcher(
+ internal::FieldMatcher<Class, FieldType>(
+ field, MatcherCast<const FieldType&>(matcher)));
+ // The call to MatcherCast() is required for supporting inner
+ // matchers of compatible types. For example, it allows
+ // Field(&Foo::bar, m)
+ // to compile where bar is an int32 and m is a matcher for int64.
+}
+
+// Creates a matcher that matches an object whose given property
+// matches 'matcher'. For example,
+// Property(&Foo::str, StartsWith("hi"))
+// matches a Foo object x iff x.str() starts with "hi".
+template <typename Class, typename PropertyType, typename PropertyMatcher>
+inline PolymorphicMatcher<
+ internal::PropertyMatcher<Class, PropertyType> > Property(
+ PropertyType (Class::*property)() const, const PropertyMatcher& matcher) {
+ return MakePolymorphicMatcher(
+ internal::PropertyMatcher<Class, PropertyType>(
+ property,
+ MatcherCast<GTEST_REFERENCE_TO_CONST_(PropertyType)>(matcher)));
+ // The call to MatcherCast() is required for supporting inner
+ // matchers of compatible types. For example, it allows
+ // Property(&Foo::bar, m)
+ // to compile where bar() returns an int32 and m is a matcher for int64.
+}
+
+// Creates a matcher that matches an object iff the result of applying
+// a callable to x matches 'matcher'.
+// For example,
+// ResultOf(f, StartsWith("hi"))
+// matches a Foo object x iff f(x) starts with "hi".
+// callable parameter can be a function, function pointer, or a functor.
+// Callable has to satisfy the following conditions:
+// * It is required to keep no state affecting the results of
+// the calls on it and make no assumptions about how many calls
+// will be made. Any state it keeps must be protected from the
+// concurrent access.
+// * If it is a function object, it has to define type result_type.
+// We recommend deriving your functor classes from std::unary_function.
+template <typename Callable, typename ResultOfMatcher>
+internal::ResultOfMatcher<Callable> ResultOf(
+ Callable callable, const ResultOfMatcher& matcher) {
+ return internal::ResultOfMatcher<Callable>(
+ callable,
+ MatcherCast<typename internal::CallableTraits<Callable>::ResultType>(
+ matcher));
+ // The call to MatcherCast() is required for supporting inner
+ // matchers of compatible types. For example, it allows
+ // ResultOf(Function, m)
+ // to compile where Function() returns an int32 and m is a matcher for int64.
+}
+
+// String matchers.
+
+// Matches a string equal to str.
+inline PolymorphicMatcher<internal::StrEqualityMatcher<internal::string> >
+ StrEq(const internal::string& str) {
+ return MakePolymorphicMatcher(internal::StrEqualityMatcher<internal::string>(
+ str, true, true));
+}
+
+// Matches a string not equal to str.
+inline PolymorphicMatcher<internal::StrEqualityMatcher<internal::string> >
+ StrNe(const internal::string& str) {
+ return MakePolymorphicMatcher(internal::StrEqualityMatcher<internal::string>(
+ str, false, true));
+}
+
+// Matches a string equal to str, ignoring case.
+inline PolymorphicMatcher<internal::StrEqualityMatcher<internal::string> >
+ StrCaseEq(const internal::string& str) {
+ return MakePolymorphicMatcher(internal::StrEqualityMatcher<internal::string>(
+ str, true, false));
+}
+
+// Matches a string not equal to str, ignoring case.
+inline PolymorphicMatcher<internal::StrEqualityMatcher<internal::string> >
+ StrCaseNe(const internal::string& str) {
+ return MakePolymorphicMatcher(internal::StrEqualityMatcher<internal::string>(
+ str, false, false));
+}
+
+// Creates a matcher that matches any string, std::string, or C string
+// that contains the given substring.
+inline PolymorphicMatcher<internal::HasSubstrMatcher<internal::string> >
+ HasSubstr(const internal::string& substring) {
+ return MakePolymorphicMatcher(internal::HasSubstrMatcher<internal::string>(
+ substring));
+}
+
+// Matches a string that starts with 'prefix' (case-sensitive).
+inline PolymorphicMatcher<internal::StartsWithMatcher<internal::string> >
+ StartsWith(const internal::string& prefix) {
+ return MakePolymorphicMatcher(internal::StartsWithMatcher<internal::string>(
+ prefix));
+}
+
+// Matches a string that ends with 'suffix' (case-sensitive).
+inline PolymorphicMatcher<internal::EndsWithMatcher<internal::string> >
+ EndsWith(const internal::string& suffix) {
+ return MakePolymorphicMatcher(internal::EndsWithMatcher<internal::string>(
+ suffix));
+}
+
+// Matches a string that fully matches regular expression 'regex'.
+// The matcher takes ownership of 'regex'.
+inline PolymorphicMatcher<internal::MatchesRegexMatcher> MatchesRegex(
+ const internal::RE* regex) {
+ return MakePolymorphicMatcher(internal::MatchesRegexMatcher(regex, true));
+}
+inline PolymorphicMatcher<internal::MatchesRegexMatcher> MatchesRegex(
+ const internal::string& regex) {
+ return MatchesRegex(new internal::RE(regex));
+}
+
+// Matches a string that contains regular expression 'regex'.
+// The matcher takes ownership of 'regex'.
+inline PolymorphicMatcher<internal::MatchesRegexMatcher> ContainsRegex(
+ const internal::RE* regex) {
+ return MakePolymorphicMatcher(internal::MatchesRegexMatcher(regex, false));
+}
+inline PolymorphicMatcher<internal::MatchesRegexMatcher> ContainsRegex(
+ const internal::string& regex) {
+ return ContainsRegex(new internal::RE(regex));
+}
+
+#if GTEST_HAS_GLOBAL_WSTRING || GTEST_HAS_STD_WSTRING
+// Wide string matchers.
+
+// Matches a string equal to str.
+inline PolymorphicMatcher<internal::StrEqualityMatcher<internal::wstring> >
+ StrEq(const internal::wstring& str) {
+ return MakePolymorphicMatcher(internal::StrEqualityMatcher<internal::wstring>(
+ str, true, true));
+}
+
+// Matches a string not equal to str.
+inline PolymorphicMatcher<internal::StrEqualityMatcher<internal::wstring> >
+ StrNe(const internal::wstring& str) {
+ return MakePolymorphicMatcher(internal::StrEqualityMatcher<internal::wstring>(
+ str, false, true));
+}
+
+// Matches a string equal to str, ignoring case.
+inline PolymorphicMatcher<internal::StrEqualityMatcher<internal::wstring> >
+ StrCaseEq(const internal::wstring& str) {
+ return MakePolymorphicMatcher(internal::StrEqualityMatcher<internal::wstring>(
+ str, true, false));
+}
+
+// Matches a string not equal to str, ignoring case.
+inline PolymorphicMatcher<internal::StrEqualityMatcher<internal::wstring> >
+ StrCaseNe(const internal::wstring& str) {
+ return MakePolymorphicMatcher(internal::StrEqualityMatcher<internal::wstring>(
+ str, false, false));
+}
+
+// Creates a matcher that matches any wstring, std::wstring, or C wide string
+// that contains the given substring.
+inline PolymorphicMatcher<internal::HasSubstrMatcher<internal::wstring> >
+ HasSubstr(const internal::wstring& substring) {
+ return MakePolymorphicMatcher(internal::HasSubstrMatcher<internal::wstring>(
+ substring));
+}
+
+// Matches a string that starts with 'prefix' (case-sensitive).
+inline PolymorphicMatcher<internal::StartsWithMatcher<internal::wstring> >
+ StartsWith(const internal::wstring& prefix) {
+ return MakePolymorphicMatcher(internal::StartsWithMatcher<internal::wstring>(
+ prefix));
+}
+
+// Matches a string that ends with 'suffix' (case-sensitive).
+inline PolymorphicMatcher<internal::EndsWithMatcher<internal::wstring> >
+ EndsWith(const internal::wstring& suffix) {
+ return MakePolymorphicMatcher(internal::EndsWithMatcher<internal::wstring>(
+ suffix));
+}
+
+#endif // GTEST_HAS_GLOBAL_WSTRING || GTEST_HAS_STD_WSTRING
+
+// Creates a polymorphic matcher that matches a 2-tuple where the
+// first field == the second field.
+inline internal::Eq2Matcher Eq() { return internal::Eq2Matcher(); }
+
+// Creates a polymorphic matcher that matches a 2-tuple where the
+// first field >= the second field.
+inline internal::Ge2Matcher Ge() { return internal::Ge2Matcher(); }
+
+// Creates a polymorphic matcher that matches a 2-tuple where the
+// first field > the second field.
+inline internal::Gt2Matcher Gt() { return internal::Gt2Matcher(); }
+
+// Creates a polymorphic matcher that matches a 2-tuple where the
+// first field <= the second field.
+inline internal::Le2Matcher Le() { return internal::Le2Matcher(); }
+
+// Creates a polymorphic matcher that matches a 2-tuple where the
+// first field < the second field.
+inline internal::Lt2Matcher Lt() { return internal::Lt2Matcher(); }
+
+// Creates a polymorphic matcher that matches a 2-tuple where the
+// first field != the second field.
+inline internal::Ne2Matcher Ne() { return internal::Ne2Matcher(); }
+
+// Creates a matcher that matches any value of type T that m doesn't
+// match.
+template <typename InnerMatcher>
+inline internal::NotMatcher<InnerMatcher> Not(InnerMatcher m) {
+ return internal::NotMatcher<InnerMatcher>(m);
+}
+
+// Returns a matcher that matches anything that satisfies the given
+// predicate. The predicate can be any unary function or functor
+// whose return type can be implicitly converted to bool.
+template <typename Predicate>
+inline PolymorphicMatcher<internal::TrulyMatcher<Predicate> >
+Truly(Predicate pred) {
+ return MakePolymorphicMatcher(internal::TrulyMatcher<Predicate>(pred));
+}
+
+// Returns a matcher that matches an equal container.
+// This matcher behaves like Eq(), but in the event of mismatch lists the
+// values that are included in one container but not the other. (Duplicate
+// values and order differences are not explained.)
+template <typename Container>
+inline PolymorphicMatcher<internal::ContainerEqMatcher< // NOLINT
+ GTEST_REMOVE_CONST_(Container)> >
+ ContainerEq(const Container& rhs) {
+ // This following line is for working around a bug in MSVC 8.0,
+ // which causes Container to be a const type sometimes.
+ typedef GTEST_REMOVE_CONST_(Container) RawContainer;
+ return MakePolymorphicMatcher(
+ internal::ContainerEqMatcher<RawContainer>(rhs));
+}
+
+// Matches an STL-style container or a native array that contains the
+// same number of elements as in rhs, where its i-th element and rhs's
+// i-th element (as a pair) satisfy the given pair matcher, for all i.
+// TupleMatcher must be able to be safely cast to Matcher<tuple<const
+// T1&, const T2&> >, where T1 and T2 are the types of elements in the
+// LHS container and the RHS container respectively.
+template <typename TupleMatcher, typename Container>
+inline internal::PointwiseMatcher<TupleMatcher,
+ GTEST_REMOVE_CONST_(Container)>
+Pointwise(const TupleMatcher& tuple_matcher, const Container& rhs) {
+ // This following line is for working around a bug in MSVC 8.0,
+ // which causes Container to be a const type sometimes.
+ typedef GTEST_REMOVE_CONST_(Container) RawContainer;
+ return internal::PointwiseMatcher<TupleMatcher, RawContainer>(
+ tuple_matcher, rhs);
+}
+
+// Matches an STL-style container or a native array that contains at
+// least one element matching the given value or matcher.
+//
+// Examples:
+// ::std::set<int> page_ids;
+// page_ids.insert(3);
+// page_ids.insert(1);
+// EXPECT_THAT(page_ids, Contains(1));
+// EXPECT_THAT(page_ids, Contains(Gt(2)));
+// EXPECT_THAT(page_ids, Not(Contains(4)));
+//
+// ::std::map<int, size_t> page_lengths;
+// page_lengths[1] = 100;
+// EXPECT_THAT(page_lengths,
+// Contains(::std::pair<const int, size_t>(1, 100)));
+//
+// const char* user_ids[] = { "joe", "mike", "tom" };
+// EXPECT_THAT(user_ids, Contains(Eq(::std::string("tom"))));
+template <typename M>
+inline internal::ContainsMatcher<M> Contains(M matcher) {
+ return internal::ContainsMatcher<M>(matcher);
+}
+
+// Matches an STL-style container or a native array that contains only
+// elements matching the given value or matcher.
+//
+// Each(m) is semantically equivalent to Not(Contains(Not(m))). Only
+// the messages are different.
+//
+// Examples:
+// ::std::set<int> page_ids;
+// // Each(m) matches an empty container, regardless of what m is.
+// EXPECT_THAT(page_ids, Each(Eq(1)));
+// EXPECT_THAT(page_ids, Each(Eq(77)));
+//
+// page_ids.insert(3);
+// EXPECT_THAT(page_ids, Each(Gt(0)));
+// EXPECT_THAT(page_ids, Not(Each(Gt(4))));
+// page_ids.insert(1);
+// EXPECT_THAT(page_ids, Not(Each(Lt(2))));
+//
+// ::std::map<int, size_t> page_lengths;
+// page_lengths[1] = 100;
+// page_lengths[2] = 200;
+// page_lengths[3] = 300;
+// EXPECT_THAT(page_lengths, Not(Each(Pair(1, 100))));
+// EXPECT_THAT(page_lengths, Each(Key(Le(3))));
+//
+// const char* user_ids[] = { "joe", "mike", "tom" };
+// EXPECT_THAT(user_ids, Not(Each(Eq(::std::string("tom")))));
+template <typename M>
+inline internal::EachMatcher<M> Each(M matcher) {
+ return internal::EachMatcher<M>(matcher);
+}
+
+// Key(inner_matcher) matches an std::pair whose 'first' field matches
+// inner_matcher. For example, Contains(Key(Ge(5))) can be used to match an
+// std::map that contains at least one element whose key is >= 5.
+template <typename M>
+inline internal::KeyMatcher<M> Key(M inner_matcher) {
+ return internal::KeyMatcher<M>(inner_matcher);
+}
+
+// Pair(first_matcher, second_matcher) matches a std::pair whose 'first' field
+// matches first_matcher and whose 'second' field matches second_matcher. For
+// example, EXPECT_THAT(map_type, ElementsAre(Pair(Ge(5), "foo"))) can be used
+// to match a std::map<int, string> that contains exactly one element whose key
+// is >= 5 and whose value equals "foo".
+template <typename FirstMatcher, typename SecondMatcher>
+inline internal::PairMatcher<FirstMatcher, SecondMatcher>
+Pair(FirstMatcher first_matcher, SecondMatcher second_matcher) {
+ return internal::PairMatcher<FirstMatcher, SecondMatcher>(
+ first_matcher, second_matcher);
+}
+
+// Returns a predicate that is satisfied by anything that matches the
+// given matcher.
+template <typename M>
+inline internal::MatcherAsPredicate<M> Matches(M matcher) {
+ return internal::MatcherAsPredicate<M>(matcher);
+}
+
+// Returns true iff the value matches the matcher.
+template <typename T, typename M>
+inline bool Value(const T& value, M matcher) {
+ return testing::Matches(matcher)(value);
+}
+
+// Matches the value against the given matcher and explains the match
+// result to listener.
+template <typename T, typename M>
+inline bool ExplainMatchResult(
+ M matcher, const T& value, MatchResultListener* listener) {
+ return SafeMatcherCast<const T&>(matcher).MatchAndExplain(value, listener);
+}
+
+// AllArgs(m) is a synonym of m. This is useful in
+//
+// EXPECT_CALL(foo, Bar(_, _)).With(AllArgs(Eq()));
+//
+// which is easier to read than
+//
+// EXPECT_CALL(foo, Bar(_, _)).With(Eq());
+template <typename InnerMatcher>
+inline InnerMatcher AllArgs(const InnerMatcher& matcher) { return matcher; }
+
+// These macros allow using matchers to check values in Google Test
+// tests. ASSERT_THAT(value, matcher) and EXPECT_THAT(value, matcher)
+// succeed iff the value matches the matcher. If the assertion fails,
+// the value and the description of the matcher will be printed.
+#define ASSERT_THAT(value, matcher) ASSERT_PRED_FORMAT1(\
+ ::testing::internal::MakePredicateFormatterFromMatcher(matcher), value)
+#define EXPECT_THAT(value, matcher) EXPECT_PRED_FORMAT1(\
+ ::testing::internal::MakePredicateFormatterFromMatcher(matcher), value)
+
+} // namespace testing
+
+#endif // GMOCK_INCLUDE_GMOCK_GMOCK_MATCHERS_H_
+
+namespace testing {
+
+// An abstract handle of an expectation.
+class Expectation;
+
+// A set of expectation handles.
+class ExpectationSet;
+
+// Anything inside the 'internal' namespace IS INTERNAL IMPLEMENTATION
+// and MUST NOT BE USED IN USER CODE!!!
+namespace internal {
+
+// Implements a mock function.
+template <typename F> class FunctionMocker;
+
+// Base class for expectations.
+class ExpectationBase;
+
+// Implements an expectation.
+template <typename F> class TypedExpectation;
+
+// Helper class for testing the Expectation class template.
+class ExpectationTester;
+
+// Base class for function mockers.
+template <typename F> class FunctionMockerBase;
+
+// Protects the mock object registry (in class Mock), all function
+// mockers, and all expectations.
+//
+// The reason we don't use more fine-grained protection is: when a
+// mock function Foo() is called, it needs to consult its expectations
+// to see which one should be picked. If another thread is allowed to
+// call a mock function (either Foo() or a different one) at the same
+// time, it could affect the "retired" attributes of Foo()'s
+// expectations when InSequence() is used, and thus affect which
+// expectation gets picked. Therefore, we sequence all mock function
+// calls to ensure the integrity of the mock objects' states.
+GTEST_DECLARE_STATIC_MUTEX_(g_gmock_mutex);
+
+// Untyped base class for ActionResultHolder<R>.
+class UntypedActionResultHolderBase;
+
+// Abstract base class of FunctionMockerBase. This is the
+// type-agnostic part of the function mocker interface. Its pure
+// virtual methods are implemented by FunctionMockerBase.
+class UntypedFunctionMockerBase {
+ public:
+ UntypedFunctionMockerBase();
+ virtual ~UntypedFunctionMockerBase();
+
+ // Verifies that all expectations on this mock function have been
+ // satisfied. Reports one or more Google Test non-fatal failures
+ // and returns false if not.
+ // L >= g_gmock_mutex
+ bool VerifyAndClearExpectationsLocked();
+
+ // Clears the ON_CALL()s set on this mock function.
+ // L >= g_gmock_mutex
+ virtual void ClearDefaultActionsLocked() = 0;
+
+ // In all of the following Untyped* functions, it's the caller's
+ // responsibility to guarantee the correctness of the arguments'
+ // types.
+
+ // Performs the default action with the given arguments and returns
+ // the action's result. The call description string will be used in
+ // the error message to describe the call in the case the default
+ // action fails.
+ // L = *
+ virtual UntypedActionResultHolderBase* UntypedPerformDefaultAction(
+ const void* untyped_args,
+ const string& call_description) const = 0;
+
+ // Performs the given action with the given arguments and returns
+ // the action's result.
+ // L = *
+ virtual UntypedActionResultHolderBase* UntypedPerformAction(
+ const void* untyped_action,
+ const void* untyped_args) const = 0;
+
+ // Writes a message that the call is uninteresting (i.e. neither
+ // explicitly expected nor explicitly unexpected) to the given
+ // ostream.
+ // L < g_gmock_mutex
+ virtual void UntypedDescribeUninterestingCall(const void* untyped_args,
+ ::std::ostream* os) const = 0;
+
+ // Returns the expectation that matches the given function arguments
+ // (or NULL is there's no match); when a match is found,
+ // untyped_action is set to point to the action that should be
+ // performed (or NULL if the action is "do default"), and
+ // is_excessive is modified to indicate whether the call exceeds the
+ // expected number.
+ // L < g_gmock_mutex
+ virtual const ExpectationBase* UntypedFindMatchingExpectation(
+ const void* untyped_args,
+ const void** untyped_action, bool* is_excessive,
+ ::std::ostream* what, ::std::ostream* why) = 0;
+
+ // Prints the given function arguments to the ostream.
+ virtual void UntypedPrintArgs(const void* untyped_args,
+ ::std::ostream* os) const = 0;
+
+ // Sets the mock object this mock method belongs to, and registers
+ // this information in the global mock registry. Will be called
+ // whenever an EXPECT_CALL() or ON_CALL() is executed on this mock
+ // method.
+ // TODO(wan@google.com): rename to SetAndRegisterOwner().
+ // L < g_gmock_mutex
+ void RegisterOwner(const void* mock_obj);
+
+ // Sets the mock object this mock method belongs to, and sets the
+ // name of the mock function. Will be called upon each invocation
+ // of this mock function.
+ // L < g_gmock_mutex
+ void SetOwnerAndName(const void* mock_obj, const char* name);
+
+ // Returns the mock object this mock method belongs to. Must be
+ // called after RegisterOwner() or SetOwnerAndName() has been
+ // called.
+ // L < g_gmock_mutex
+ const void* MockObject() const;
+
+ // Returns the name of this mock method. Must be called after
+ // SetOwnerAndName() has been called.
+ // L < g_gmock_mutex
+ const char* Name() const;
+
+ // Returns the result of invoking this mock function with the given
+ // arguments. This function can be safely called from multiple
+ // threads concurrently. The caller is responsible for deleting the
+ // result.
+ // L < g_gmock_mutex
+ const UntypedActionResultHolderBase* UntypedInvokeWith(
+ const void* untyped_args);
+
+ protected:
+ typedef std::vector<const void*> UntypedOnCallSpecs;
+
+ typedef std::vector<internal::linked_ptr<ExpectationBase> >
+ UntypedExpectations;
+
+ // Returns an Expectation object that references and co-owns exp,
+ // which must be an expectation on this mock function.
+ Expectation GetHandleOf(ExpectationBase* exp);
+
+ // Address of the mock object this mock method belongs to. Only
+ // valid after this mock method has been called or
+ // ON_CALL/EXPECT_CALL has been invoked on it.
+ const void* mock_obj_; // Protected by g_gmock_mutex.
+
+ // Name of the function being mocked. Only valid after this mock
+ // method has been called.
+ const char* name_; // Protected by g_gmock_mutex.
+
+ // All default action specs for this function mocker.
+ UntypedOnCallSpecs untyped_on_call_specs_;
+
+ // All expectations for this function mocker.
+ UntypedExpectations untyped_expectations_;
+}; // class UntypedFunctionMockerBase
+
+// Untyped base class for OnCallSpec<F>.
+class UntypedOnCallSpecBase {
+ public:
+ // The arguments are the location of the ON_CALL() statement.
+ UntypedOnCallSpecBase(const char* a_file, int a_line)
+ : file_(a_file), line_(a_line), last_clause_(kNone) {}
+
+ // Where in the source file was the default action spec defined?
+ const char* file() const { return file_; }
+ int line() const { return line_; }
+
+ protected:
+ // Gives each clause in the ON_CALL() statement a name.
+ enum Clause {
+ // Do not change the order of the enum members! The run-time
+ // syntax checking relies on it.
+ kNone,
+ kWith,
+ kWillByDefault
+ };
+
+ // Asserts that the ON_CALL() statement has a certain property.
+ void AssertSpecProperty(bool property, const string& failure_message) const {
+ Assert(property, file_, line_, failure_message);
+ }
+
+ // Expects that the ON_CALL() statement has a certain property.
+ void ExpectSpecProperty(bool property, const string& failure_message) const {
+ Expect(property, file_, line_, failure_message);
+ }
+
+ const char* file_;
+ int line_;
+
+ // The last clause in the ON_CALL() statement as seen so far.
+ // Initially kNone and changes as the statement is parsed.
+ Clause last_clause_;
+}; // class UntypedOnCallSpecBase
+
+// This template class implements an ON_CALL spec.
+template <typename F>
+class OnCallSpec : public UntypedOnCallSpecBase {
+ public:
+ typedef typename Function<F>::ArgumentTuple ArgumentTuple;
+ typedef typename Function<F>::ArgumentMatcherTuple ArgumentMatcherTuple;
+
+ // Constructs an OnCallSpec object from the information inside
+ // the parenthesis of an ON_CALL() statement.
+ OnCallSpec(const char* a_file, int a_line,
+ const ArgumentMatcherTuple& matchers)
+ : UntypedOnCallSpecBase(a_file, a_line),
+ matchers_(matchers),
+ // By default, extra_matcher_ should match anything. However,
+ // we cannot initialize it with _ as that triggers a compiler
+ // bug in Symbian's C++ compiler (cannot decide between two
+ // overloaded constructors of Matcher<const ArgumentTuple&>).
+ extra_matcher_(A<const ArgumentTuple&>()) {
+ }
+
+ // Implements the .With() clause.
+ OnCallSpec& With(const Matcher<const ArgumentTuple&>& m) {
+ // Makes sure this is called at most once.
+ ExpectSpecProperty(last_clause_ < kWith,
+ ".With() cannot appear "
+ "more than once in an ON_CALL().");
+ last_clause_ = kWith;
+
+ extra_matcher_ = m;
+ return *this;
+ }
+
+ // Implements the .WillByDefault() clause.
+ OnCallSpec& WillByDefault(const Action<F>& action) {
+ ExpectSpecProperty(last_clause_ < kWillByDefault,
+ ".WillByDefault() must appear "
+ "exactly once in an ON_CALL().");
+ last_clause_ = kWillByDefault;
+
+ ExpectSpecProperty(!action.IsDoDefault(),
+ "DoDefault() cannot be used in ON_CALL().");
+ action_ = action;
+ return *this;
+ }
+
+ // Returns true iff the given arguments match the matchers.
+ bool Matches(const ArgumentTuple& args) const {
+ return TupleMatches(matchers_, args) && extra_matcher_.Matches(args);
+ }
+
+ // Returns the action specified by the user.
+ const Action<F>& GetAction() const {
+ AssertSpecProperty(last_clause_ == kWillByDefault,
+ ".WillByDefault() must appear exactly "
+ "once in an ON_CALL().");
+ return action_;
+ }
+
+ private:
+ // The information in statement
+ //
+ // ON_CALL(mock_object, Method(matchers))
+ // .With(multi-argument-matcher)
+ // .WillByDefault(action);
+ //
+ // is recorded in the data members like this:
+ //
+ // source file that contains the statement => file_
+ // line number of the statement => line_
+ // matchers => matchers_
+ // multi-argument-matcher => extra_matcher_
+ // action => action_
+ ArgumentMatcherTuple matchers_;
+ Matcher<const ArgumentTuple&> extra_matcher_;
+ Action<F> action_;
+}; // class OnCallSpec
+
+// Possible reactions on uninteresting calls. TODO(wan@google.com):
+// rename the enum values to the kFoo style.
+enum CallReaction {
+ ALLOW,
+ WARN,
+ FAIL
+};
+
+} // namespace internal
+
+// Utilities for manipulating mock objects.
+class Mock {
+ public:
+ // The following public methods can be called concurrently.
+
+ // Tells Google Mock to ignore mock_obj when checking for leaked
+ // mock objects.
+ static void AllowLeak(const void* mock_obj);
+
+ // Verifies and clears all expectations on the given mock object.
+ // If the expectations aren't satisfied, generates one or more
+ // Google Test non-fatal failures and returns false.
+ static bool VerifyAndClearExpectations(void* mock_obj);
+
+ // Verifies all expectations on the given mock object and clears its
+ // default actions and expectations. Returns true iff the
+ // verification was successful.
+ static bool VerifyAndClear(void* mock_obj);
+ private:
+ friend class internal::UntypedFunctionMockerBase;
+
+ // Needed for a function mocker to register itself (so that we know
+ // how to clear a mock object).
+ template <typename F>
+ friend class internal::FunctionMockerBase;
+
+ template <typename M>
+ friend class NiceMock;
+
+ template <typename M>
+ friend class StrictMock;
+
+ // Tells Google Mock to allow uninteresting calls on the given mock
+ // object.
+ // L < g_gmock_mutex
+ static void AllowUninterestingCalls(const void* mock_obj);
+
+ // Tells Google Mock to warn the user about uninteresting calls on
+ // the given mock object.
+ // L < g_gmock_mutex
+ static void WarnUninterestingCalls(const void* mock_obj);
+
+ // Tells Google Mock to fail uninteresting calls on the given mock
+ // object.
+ // L < g_gmock_mutex
+ static void FailUninterestingCalls(const void* mock_obj);
+
+ // Tells Google Mock the given mock object is being destroyed and
+ // its entry in the call-reaction table should be removed.
+ // L < g_gmock_mutex
+ static void UnregisterCallReaction(const void* mock_obj);
+
+ // Returns the reaction Google Mock will have on uninteresting calls
+ // made on the given mock object.
+ // L < g_gmock_mutex
+ static internal::CallReaction GetReactionOnUninterestingCalls(
+ const void* mock_obj);
+
+ // Verifies that all expectations on the given mock object have been
+ // satisfied. Reports one or more Google Test non-fatal failures
+ // and returns false if not.
+ // L >= g_gmock_mutex
+ static bool VerifyAndClearExpectationsLocked(void* mock_obj);
+
+ // Clears all ON_CALL()s set on the given mock object.
+ // L >= g_gmock_mutex
+ static void ClearDefaultActionsLocked(void* mock_obj);
+
+ // Registers a mock object and a mock method it owns.
+ // L < g_gmock_mutex
+ static void Register(const void* mock_obj,
+ internal::UntypedFunctionMockerBase* mocker);
+
+ // Tells Google Mock where in the source code mock_obj is used in an
+ // ON_CALL or EXPECT_CALL. In case mock_obj is leaked, this
+ // information helps the user identify which object it is.
+ // L < g_gmock_mutex
+ static void RegisterUseByOnCallOrExpectCall(
+ const void* mock_obj, const char* file, int line);
+
+ // Unregisters a mock method; removes the owning mock object from
+ // the registry when the last mock method associated with it has
+ // been unregistered. This is called only in the destructor of
+ // FunctionMockerBase.
+ // L >= g_gmock_mutex
+ static void UnregisterLocked(internal::UntypedFunctionMockerBase* mocker);
+}; // class Mock
+
+// An abstract handle of an expectation. Useful in the .After()
+// clause of EXPECT_CALL() for setting the (partial) order of
+// expectations. The syntax:
+//
+// Expectation e1 = EXPECT_CALL(...)...;
+// EXPECT_CALL(...).After(e1)...;
+//
+// sets two expectations where the latter can only be matched after
+// the former has been satisfied.
+//
+// Notes:
+// - This class is copyable and has value semantics.
+// - Constness is shallow: a const Expectation object itself cannot
+// be modified, but the mutable methods of the ExpectationBase
+// object it references can be called via expectation_base().
+// - The constructors and destructor are defined out-of-line because
+// the Symbian WINSCW compiler wants to otherwise instantiate them
+// when it sees this class definition, at which point it doesn't have
+// ExpectationBase available yet, leading to incorrect destruction
+// in the linked_ptr (or compilation errors if using a checking
+// linked_ptr).
+class Expectation {
+ public:
+ // Constructs a null object that doesn't reference any expectation.
+ Expectation();
+
+ ~Expectation();
+
+ // This single-argument ctor must not be explicit, in order to support the
+ // Expectation e = EXPECT_CALL(...);
+ // syntax.
+ //
+ // A TypedExpectation object stores its pre-requisites as
+ // Expectation objects, and needs to call the non-const Retire()
+ // method on the ExpectationBase objects they reference. Therefore
+ // Expectation must receive a *non-const* reference to the
+ // ExpectationBase object.
+ Expectation(internal::ExpectationBase& exp); // NOLINT
+
+ // The compiler-generated copy ctor and operator= work exactly as
+ // intended, so we don't need to define our own.
+
+ // Returns true iff rhs references the same expectation as this object does.
+ bool operator==(const Expectation& rhs) const {
+ return expectation_base_ == rhs.expectation_base_;
+ }
+
+ bool operator!=(const Expectation& rhs) const { return !(*this == rhs); }
+
+ private:
+ friend class ExpectationSet;
+ friend class Sequence;
+ friend class ::testing::internal::ExpectationBase;
+ friend class ::testing::internal::UntypedFunctionMockerBase;
+
+ template <typename F>
+ friend class ::testing::internal::FunctionMockerBase;
+
+ template <typename F>
+ friend class ::testing::internal::TypedExpectation;
+
+ // This comparator is needed for putting Expectation objects into a set.
+ class Less {
+ public:
+ bool operator()(const Expectation& lhs, const Expectation& rhs) const {
+ return lhs.expectation_base_.get() < rhs.expectation_base_.get();
+ }
+ };
+
+ typedef ::std::set<Expectation, Less> Set;
+
+ Expectation(
+ const internal::linked_ptr<internal::ExpectationBase>& expectation_base);
+
+ // Returns the expectation this object references.
+ const internal::linked_ptr<internal::ExpectationBase>&
+ expectation_base() const {
+ return expectation_base_;
+ }
+
+ // A linked_ptr that co-owns the expectation this handle references.
+ internal::linked_ptr<internal::ExpectationBase> expectation_base_;
+};
+
+// A set of expectation handles. Useful in the .After() clause of
+// EXPECT_CALL() for setting the (partial) order of expectations. The
+// syntax:
+//
+// ExpectationSet es;
+// es += EXPECT_CALL(...)...;
+// es += EXPECT_CALL(...)...;
+// EXPECT_CALL(...).After(es)...;
+//
+// sets three expectations where the last one can only be matched
+// after the first two have both been satisfied.
+//
+// This class is copyable and has value semantics.
+class ExpectationSet {
+ public:
+ // A bidirectional iterator that can read a const element in the set.
+ typedef Expectation::Set::const_iterator const_iterator;
+
+ // An object stored in the set. This is an alias of Expectation.
+ typedef Expectation::Set::value_type value_type;
+
+ // Constructs an empty set.
+ ExpectationSet() {}
+
+ // This single-argument ctor must not be explicit, in order to support the
+ // ExpectationSet es = EXPECT_CALL(...);
+ // syntax.
+ ExpectationSet(internal::ExpectationBase& exp) { // NOLINT
+ *this += Expectation(exp);
+ }
+
+ // This single-argument ctor implements implicit conversion from
+ // Expectation and thus must not be explicit. This allows either an
+ // Expectation or an ExpectationSet to be used in .After().
+ ExpectationSet(const Expectation& e) { // NOLINT
+ *this += e;
+ }
+
+ // The compiler-generator ctor and operator= works exactly as
+ // intended, so we don't need to define our own.
+
+ // Returns true iff rhs contains the same set of Expectation objects
+ // as this does.
+ bool operator==(const ExpectationSet& rhs) const {
+ return expectations_ == rhs.expectations_;
+ }
+
+ bool operator!=(const ExpectationSet& rhs) const { return !(*this == rhs); }
+
+ // Implements the syntax
+ // expectation_set += EXPECT_CALL(...);
+ ExpectationSet& operator+=(const Expectation& e) {
+ expectations_.insert(e);
+ return *this;
+ }
+
+ int size() const { return static_cast<int>(expectations_.size()); }
+
+ const_iterator begin() const { return expectations_.begin(); }
+ const_iterator end() const { return expectations_.end(); }
+
+ private:
+ Expectation::Set expectations_;
+};
+
+
+// Sequence objects are used by a user to specify the relative order
+// in which the expectations should match. They are copyable (we rely
+// on the compiler-defined copy constructor and assignment operator).
+class Sequence {
+ public:
+ // Constructs an empty sequence.
+ Sequence() : last_expectation_(new Expectation) {}
+
+ // Adds an expectation to this sequence. The caller must ensure
+ // that no other thread is accessing this Sequence object.
+ void AddExpectation(const Expectation& expectation) const;
+
+ private:
+ // The last expectation in this sequence. We use a linked_ptr here
+ // because Sequence objects are copyable and we want the copies to
+ // be aliases. The linked_ptr allows the copies to co-own and share
+ // the same Expectation object.
+ internal::linked_ptr<Expectation> last_expectation_;
+}; // class Sequence
+
+// An object of this type causes all EXPECT_CALL() statements
+// encountered in its scope to be put in an anonymous sequence. The
+// work is done in the constructor and destructor. You should only
+// create an InSequence object on the stack.
+//
+// The sole purpose for this class is to support easy definition of
+// sequential expectations, e.g.
+//
+// {
+// InSequence dummy; // The name of the object doesn't matter.
+//
+// // The following expectations must match in the order they appear.
+// EXPECT_CALL(a, Bar())...;
+// EXPECT_CALL(a, Baz())...;
+// ...
+// EXPECT_CALL(b, Xyz())...;
+// }
+//
+// You can create InSequence objects in multiple threads, as long as
+// they are used to affect different mock objects. The idea is that
+// each thread can create and set up its own mocks as if it's the only
+// thread. However, for clarity of your tests we recommend you to set
+// up mocks in the main thread unless you have a good reason not to do
+// so.
+class InSequence {
+ public:
+ InSequence();
+ ~InSequence();
+ private:
+ bool sequence_created_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(InSequence); // NOLINT
+} GTEST_ATTRIBUTE_UNUSED_;
+
+namespace internal {
+
+// Points to the implicit sequence introduced by a living InSequence
+// object (if any) in the current thread or NULL.
+extern ThreadLocal<Sequence*> g_gmock_implicit_sequence;
+
+// Base class for implementing expectations.
+//
+// There are two reasons for having a type-agnostic base class for
+// Expectation:
+//
+// 1. We need to store collections of expectations of different
+// types (e.g. all pre-requisites of a particular expectation, all
+// expectations in a sequence). Therefore these expectation objects
+// must share a common base class.
+//
+// 2. We can avoid binary code bloat by moving methods not depending
+// on the template argument of Expectation to the base class.
+//
+// This class is internal and mustn't be used by user code directly.
+class ExpectationBase {
+ public:
+ // source_text is the EXPECT_CALL(...) source that created this Expectation.
+ ExpectationBase(const char* file, int line, const string& source_text);
+
+ virtual ~ExpectationBase();
+
+ // Where in the source file was the expectation spec defined?
+ const char* file() const { return file_; }
+ int line() const { return line_; }
+ const char* source_text() const { return source_text_.c_str(); }
+ // Returns the cardinality specified in the expectation spec.
+ const Cardinality& cardinality() const { return cardinality_; }
+
+ // Describes the source file location of this expectation.
+ void DescribeLocationTo(::std::ostream* os) const {
+ *os << FormatFileLocation(file(), line()) << " ";
+ }
+
+ // Describes how many times a function call matching this
+ // expectation has occurred.
+ // L >= g_gmock_mutex
+ void DescribeCallCountTo(::std::ostream* os) const;
+
+ // If this mock method has an extra matcher (i.e. .With(matcher)),
+ // describes it to the ostream.
+ virtual void MaybeDescribeExtraMatcherTo(::std::ostream* os) = 0;
+
+ protected:
+ friend class ::testing::Expectation;
+ friend class UntypedFunctionMockerBase;
+
+ enum Clause {
+ // Don't change the order of the enum members!
+ kNone,
+ kWith,
+ kTimes,
+ kInSequence,
+ kAfter,
+ kWillOnce,
+ kWillRepeatedly,
+ kRetiresOnSaturation
+ };
+
+ typedef std::vector<const void*> UntypedActions;
+
+ // Returns an Expectation object that references and co-owns this
+ // expectation.
+ virtual Expectation GetHandle() = 0;
+
+ // Asserts that the EXPECT_CALL() statement has the given property.
+ void AssertSpecProperty(bool property, const string& failure_message) const {
+ Assert(property, file_, line_, failure_message);
+ }
+
+ // Expects that the EXPECT_CALL() statement has the given property.
+ void ExpectSpecProperty(bool property, const string& failure_message) const {
+ Expect(property, file_, line_, failure_message);
+ }
+
+ // Explicitly specifies the cardinality of this expectation. Used
+ // by the subclasses to implement the .Times() clause.
+ void SpecifyCardinality(const Cardinality& cardinality);
+
+ // Returns true iff the user specified the cardinality explicitly
+ // using a .Times().
+ bool cardinality_specified() const { return cardinality_specified_; }
+
+ // Sets the cardinality of this expectation spec.
+ void set_cardinality(const Cardinality& a_cardinality) {
+ cardinality_ = a_cardinality;
+ }
+
+ // The following group of methods should only be called after the
+ // EXPECT_CALL() statement, and only when g_gmock_mutex is held by
+ // the current thread.
+
+ // Retires all pre-requisites of this expectation.
+ // L >= g_gmock_mutex
+ void RetireAllPreRequisites();
+
+ // Returns true iff this expectation is retired.
+ // L >= g_gmock_mutex
+ bool is_retired() const {
+ g_gmock_mutex.AssertHeld();
+ return retired_;
+ }
+
+ // Retires this expectation.
+ // L >= g_gmock_mutex
+ void Retire() {
+ g_gmock_mutex.AssertHeld();
+ retired_ = true;
+ }
+
+ // Returns true iff this expectation is satisfied.
+ // L >= g_gmock_mutex
+ bool IsSatisfied() const {
+ g_gmock_mutex.AssertHeld();
+ return cardinality().IsSatisfiedByCallCount(call_count_);
+ }
+
+ // Returns true iff this expectation is saturated.
+ // L >= g_gmock_mutex
+ bool IsSaturated() const {
+ g_gmock_mutex.AssertHeld();
+ return cardinality().IsSaturatedByCallCount(call_count_);
+ }
+
+ // Returns true iff this expectation is over-saturated.
+ // L >= g_gmock_mutex
+ bool IsOverSaturated() const {
+ g_gmock_mutex.AssertHeld();
+ return cardinality().IsOverSaturatedByCallCount(call_count_);
+ }
+
+ // Returns true iff all pre-requisites of this expectation are satisfied.
+ // L >= g_gmock_mutex
+ bool AllPrerequisitesAreSatisfied() const;
+
+ // Adds unsatisfied pre-requisites of this expectation to 'result'.
+ // L >= g_gmock_mutex
+ void FindUnsatisfiedPrerequisites(ExpectationSet* result) const;
+
+ // Returns the number this expectation has been invoked.
+ // L >= g_gmock_mutex
+ int call_count() const {
+ g_gmock_mutex.AssertHeld();
+ return call_count_;
+ }
+
+ // Increments the number this expectation has been invoked.
+ // L >= g_gmock_mutex
+ void IncrementCallCount() {
+ g_gmock_mutex.AssertHeld();
+ call_count_++;
+ }
+
+ // Checks the action count (i.e. the number of WillOnce() and
+ // WillRepeatedly() clauses) against the cardinality if this hasn't
+ // been done before. Prints a warning if there are too many or too
+ // few actions.
+ // L < mutex_
+ void CheckActionCountIfNotDone() const;
+
+ friend class ::testing::Sequence;
+ friend class ::testing::internal::ExpectationTester;
+
+ template <typename Function>
+ friend class TypedExpectation;
+
+ // Implements the .Times() clause.
+ void UntypedTimes(const Cardinality& a_cardinality);
+
+ // This group of fields are part of the spec and won't change after
+ // an EXPECT_CALL() statement finishes.
+ const char* file_; // The file that contains the expectation.
+ int line_; // The line number of the expectation.
+ const string source_text_; // The EXPECT_CALL(...) source text.
+ // True iff the cardinality is specified explicitly.
+ bool cardinality_specified_;
+ Cardinality cardinality_; // The cardinality of the expectation.
+ // The immediate pre-requisites (i.e. expectations that must be
+ // satisfied before this expectation can be matched) of this
+ // expectation. We use linked_ptr in the set because we want an
+ // Expectation object to be co-owned by its FunctionMocker and its
+ // successors. This allows multiple mock objects to be deleted at
+ // different times.
+ ExpectationSet immediate_prerequisites_;
+
+ // This group of fields are the current state of the expectation,
+ // and can change as the mock function is called.
+ int call_count_; // How many times this expectation has been invoked.
+ bool retired_; // True iff this expectation has retired.
+ UntypedActions untyped_actions_;
+ bool extra_matcher_specified_;
+ bool repeated_action_specified_; // True if a WillRepeatedly() was specified.
+ bool retires_on_saturation_;
+ Clause last_clause_;
+ mutable bool action_count_checked_; // Under mutex_.
+ mutable Mutex mutex_; // Protects action_count_checked_.
+
+ GTEST_DISALLOW_ASSIGN_(ExpectationBase);
+}; // class ExpectationBase
+
+// Impements an expectation for the given function type.
+template <typename F>
+class TypedExpectation : public ExpectationBase {
+ public:
+ typedef typename Function<F>::ArgumentTuple ArgumentTuple;
+ typedef typename Function<F>::ArgumentMatcherTuple ArgumentMatcherTuple;
+ typedef typename Function<F>::Result Result;
+
+ TypedExpectation(FunctionMockerBase<F>* owner,
+ const char* a_file, int a_line, const string& a_source_text,
+ const ArgumentMatcherTuple& m)
+ : ExpectationBase(a_file, a_line, a_source_text),
+ owner_(owner),
+ matchers_(m),
+ // By default, extra_matcher_ should match anything. However,
+ // we cannot initialize it with _ as that triggers a compiler
+ // bug in Symbian's C++ compiler (cannot decide between two
+ // overloaded constructors of Matcher<const ArgumentTuple&>).
+ extra_matcher_(A<const ArgumentTuple&>()),
+ repeated_action_(DoDefault()) {}
+
+ virtual ~TypedExpectation() {
+ // Check the validity of the action count if it hasn't been done
+ // yet (for example, if the expectation was never used).
+ CheckActionCountIfNotDone();
+ for (UntypedActions::const_iterator it = untyped_actions_.begin();
+ it != untyped_actions_.end(); ++it) {
+ delete static_cast<const Action<F>*>(*it);
+ }
+ }
+
+ // Implements the .With() clause.
+ TypedExpectation& With(const Matcher<const ArgumentTuple&>& m) {
+ if (last_clause_ == kWith) {
+ ExpectSpecProperty(false,
+ ".With() cannot appear "
+ "more than once in an EXPECT_CALL().");
+ } else {
+ ExpectSpecProperty(last_clause_ < kWith,
+ ".With() must be the first "
+ "clause in an EXPECT_CALL().");
+ }
+ last_clause_ = kWith;
+
+ extra_matcher_ = m;
+ extra_matcher_specified_ = true;
+ return *this;
+ }
+
+ // Implements the .Times() clause.
+ TypedExpectation& Times(const Cardinality& a_cardinality) {
+ ExpectationBase::UntypedTimes(a_cardinality);
+ return *this;
+ }
+
+ // Implements the .Times() clause.
+ TypedExpectation& Times(int n) {
+ return Times(Exactly(n));
+ }
+
+ // Implements the .InSequence() clause.
+ TypedExpectation& InSequence(const Sequence& s) {
+ ExpectSpecProperty(last_clause_ <= kInSequence,
+ ".InSequence() cannot appear after .After(),"
+ " .WillOnce(), .WillRepeatedly(), or "
+ ".RetiresOnSaturation().");
+ last_clause_ = kInSequence;
+
+ s.AddExpectation(GetHandle());
+ return *this;
+ }
+ TypedExpectation& InSequence(const Sequence& s1, const Sequence& s2) {
+ return InSequence(s1).InSequence(s2);
+ }
+ TypedExpectation& InSequence(const Sequence& s1, const Sequence& s2,
+ const Sequence& s3) {
+ return InSequence(s1, s2).InSequence(s3);
+ }
+ TypedExpectation& InSequence(const Sequence& s1, const Sequence& s2,
+ const Sequence& s3, const Sequence& s4) {
+ return InSequence(s1, s2, s3).InSequence(s4);
+ }
+ TypedExpectation& InSequence(const Sequence& s1, const Sequence& s2,
+ const Sequence& s3, const Sequence& s4,
+ const Sequence& s5) {
+ return InSequence(s1, s2, s3, s4).InSequence(s5);
+ }
+
+ // Implements that .After() clause.
+ TypedExpectation& After(const ExpectationSet& s) {
+ ExpectSpecProperty(last_clause_ <= kAfter,
+ ".After() cannot appear after .WillOnce(),"
+ " .WillRepeatedly(), or "
+ ".RetiresOnSaturation().");
+ last_clause_ = kAfter;
+
+ for (ExpectationSet::const_iterator it = s.begin(); it != s.end(); ++it) {
+ immediate_prerequisites_ += *it;
+ }
+ return *this;
+ }
+ TypedExpectation& After(const ExpectationSet& s1, const ExpectationSet& s2) {
+ return After(s1).After(s2);
+ }
+ TypedExpectation& After(const ExpectationSet& s1, const ExpectationSet& s2,
+ const ExpectationSet& s3) {
+ return After(s1, s2).After(s3);
+ }
+ TypedExpectation& After(const ExpectationSet& s1, const ExpectationSet& s2,
+ const ExpectationSet& s3, const ExpectationSet& s4) {
+ return After(s1, s2, s3).After(s4);
+ }
+ TypedExpectation& After(const ExpectationSet& s1, const ExpectationSet& s2,
+ const ExpectationSet& s3, const ExpectationSet& s4,
+ const ExpectationSet& s5) {
+ return After(s1, s2, s3, s4).After(s5);
+ }
+
+ // Implements the .WillOnce() clause.
+ TypedExpectation& WillOnce(const Action<F>& action) {
+ ExpectSpecProperty(last_clause_ <= kWillOnce,
+ ".WillOnce() cannot appear after "
+ ".WillRepeatedly() or .RetiresOnSaturation().");
+ last_clause_ = kWillOnce;
+
+ untyped_actions_.push_back(new Action<F>(action));
+ if (!cardinality_specified()) {
+ set_cardinality(Exactly(static_cast<int>(untyped_actions_.size())));
+ }
+ return *this;
+ }
+
+ // Implements the .WillRepeatedly() clause.
+ TypedExpectation& WillRepeatedly(const Action<F>& action) {
+ if (last_clause_ == kWillRepeatedly) {
+ ExpectSpecProperty(false,
+ ".WillRepeatedly() cannot appear "
+ "more than once in an EXPECT_CALL().");
+ } else {
+ ExpectSpecProperty(last_clause_ < kWillRepeatedly,
+ ".WillRepeatedly() cannot appear "
+ "after .RetiresOnSaturation().");
+ }
+ last_clause_ = kWillRepeatedly;
+ repeated_action_specified_ = true;
+
+ repeated_action_ = action;
+ if (!cardinality_specified()) {
+ set_cardinality(AtLeast(static_cast<int>(untyped_actions_.size())));
+ }
+
+ // Now that no more action clauses can be specified, we check
+ // whether their count makes sense.
+ CheckActionCountIfNotDone();
+ return *this;
+ }
+
+ // Implements the .RetiresOnSaturation() clause.
+ TypedExpectation& RetiresOnSaturation() {
+ ExpectSpecProperty(last_clause_ < kRetiresOnSaturation,
+ ".RetiresOnSaturation() cannot appear "
+ "more than once.");
+ last_clause_ = kRetiresOnSaturation;
+ retires_on_saturation_ = true;
+
+ // Now that no more action clauses can be specified, we check
+ // whether their count makes sense.
+ CheckActionCountIfNotDone();
+ return *this;
+ }
+
+ // Returns the matchers for the arguments as specified inside the
+ // EXPECT_CALL() macro.
+ const ArgumentMatcherTuple& matchers() const {
+ return matchers_;
+ }
+
+ // Returns the matcher specified by the .With() clause.
+ const Matcher<const ArgumentTuple&>& extra_matcher() const {
+ return extra_matcher_;
+ }
+
+ // Returns the action specified by the .WillRepeatedly() clause.
+ const Action<F>& repeated_action() const { return repeated_action_; }
+
+ // If this mock method has an extra matcher (i.e. .With(matcher)),
+ // describes it to the ostream.
+ virtual void MaybeDescribeExtraMatcherTo(::std::ostream* os) {
+ if (extra_matcher_specified_) {
+ *os << " Expected args: ";
+ extra_matcher_.DescribeTo(os);
+ *os << "\n";
+ }
+ }
+
+ private:
+ template <typename Function>
+ friend class FunctionMockerBase;
+
+ // Returns an Expectation object that references and co-owns this
+ // expectation.
+ virtual Expectation GetHandle() {
+ return owner_->GetHandleOf(this);
+ }
+
+ // The following methods will be called only after the EXPECT_CALL()
+ // statement finishes and when the current thread holds
+ // g_gmock_mutex.
+
+ // Returns true iff this expectation matches the given arguments.
+ // L >= g_gmock_mutex
+ bool Matches(const ArgumentTuple& args) const {
+ g_gmock_mutex.AssertHeld();
+ return TupleMatches(matchers_, args) && extra_matcher_.Matches(args);
+ }
+
+ // Returns true iff this expectation should handle the given arguments.
+ // L >= g_gmock_mutex
+ bool ShouldHandleArguments(const ArgumentTuple& args) const {
+ g_gmock_mutex.AssertHeld();
+
+ // In case the action count wasn't checked when the expectation
+ // was defined (e.g. if this expectation has no WillRepeatedly()
+ // or RetiresOnSaturation() clause), we check it when the
+ // expectation is used for the first time.
+ CheckActionCountIfNotDone();
+ return !is_retired() && AllPrerequisitesAreSatisfied() && Matches(args);
+ }
+
+ // Describes the result of matching the arguments against this
+ // expectation to the given ostream.
+ // L >= g_gmock_mutex
+ void ExplainMatchResultTo(const ArgumentTuple& args,
+ ::std::ostream* os) const {
+ g_gmock_mutex.AssertHeld();
+
+ if (is_retired()) {
+ *os << " Expected: the expectation is active\n"
+ << " Actual: it is retired\n";
+ } else if (!Matches(args)) {
+ if (!TupleMatches(matchers_, args)) {
+ ExplainMatchFailureTupleTo(matchers_, args, os);
+ }
+ StringMatchResultListener listener;
+ if (!extra_matcher_.MatchAndExplain(args, &listener)) {
+ *os << " Expected args: ";
+ extra_matcher_.DescribeTo(os);
+ *os << "\n Actual: don't match";
+
+ internal::PrintIfNotEmpty(listener.str(), os);
+ *os << "\n";
+ }
+ } else if (!AllPrerequisitesAreSatisfied()) {
+ *os << " Expected: all pre-requisites are satisfied\n"
+ << " Actual: the following immediate pre-requisites "
+ << "are not satisfied:\n";
+ ExpectationSet unsatisfied_prereqs;
+ FindUnsatisfiedPrerequisites(&unsatisfied_prereqs);
+ int i = 0;
+ for (ExpectationSet::const_iterator it = unsatisfied_prereqs.begin();
+ it != unsatisfied_prereqs.end(); ++it) {
+ it->expectation_base()->DescribeLocationTo(os);
+ *os << "pre-requisite #" << i++ << "\n";
+ }
+ *os << " (end of pre-requisites)\n";
+ } else {
+ // This line is here just for completeness' sake. It will never
+ // be executed as currently the ExplainMatchResultTo() function
+ // is called only when the mock function call does NOT match the
+ // expectation.
+ *os << "The call matches the expectation.\n";
+ }
+ }
+
+ // Returns the action that should be taken for the current invocation.
+ // L >= g_gmock_mutex
+ const Action<F>& GetCurrentAction(const FunctionMockerBase<F>* mocker,
+ const ArgumentTuple& args) const {
+ g_gmock_mutex.AssertHeld();
+ const int count = call_count();
+ Assert(count >= 1, __FILE__, __LINE__,
+ "call_count() is <= 0 when GetCurrentAction() is "
+ "called - this should never happen.");
+
+ const int action_count = static_cast<int>(untyped_actions_.size());
+ if (action_count > 0 && !repeated_action_specified_ &&
+ count > action_count) {
+ // If there is at least one WillOnce() and no WillRepeatedly(),
+ // we warn the user when the WillOnce() clauses ran out.
+ ::std::stringstream ss;
+ DescribeLocationTo(&ss);
+ ss << "Actions ran out in " << source_text() << "...\n"
+ << "Called " << count << " times, but only "
+ << action_count << " WillOnce()"
+ << (action_count == 1 ? " is" : "s are") << " specified - ";
+ mocker->DescribeDefaultActionTo(args, &ss);
+ Log(WARNING, ss.str(), 1);
+ }
+
+ return count <= action_count ?
+ *static_cast<const Action<F>*>(untyped_actions_[count - 1]) :
+ repeated_action();
+ }
+
+ // Given the arguments of a mock function call, if the call will
+ // over-saturate this expectation, returns the default action;
+ // otherwise, returns the next action in this expectation. Also
+ // describes *what* happened to 'what', and explains *why* Google
+ // Mock does it to 'why'. This method is not const as it calls
+ // IncrementCallCount(). A return value of NULL means the default
+ // action.
+ // L >= g_gmock_mutex
+ const Action<F>* GetActionForArguments(const FunctionMockerBase<F>* mocker,
+ const ArgumentTuple& args,
+ ::std::ostream* what,
+ ::std::ostream* why) {
+ g_gmock_mutex.AssertHeld();
+ if (IsSaturated()) {
+ // We have an excessive call.
+ IncrementCallCount();
+ *what << "Mock function called more times than expected - ";
+ mocker->DescribeDefaultActionTo(args, what);
+ DescribeCallCountTo(why);
+
+ // TODO(wan@google.com): allow the user to control whether
+ // unexpected calls should fail immediately or continue using a
+ // flag --gmock_unexpected_calls_are_fatal.
+ return NULL;
+ }
+
+ IncrementCallCount();
+ RetireAllPreRequisites();
+
+ if (retires_on_saturation_ && IsSaturated()) {
+ Retire();
+ }
+
+ // Must be done after IncrementCount()!
+ *what << "Mock function call matches " << source_text() <<"...\n";
+ return &(GetCurrentAction(mocker, args));
+ }
+
+ // All the fields below won't change once the EXPECT_CALL()
+ // statement finishes.
+ FunctionMockerBase<F>* const owner_;
+ ArgumentMatcherTuple matchers_;
+ Matcher<const ArgumentTuple&> extra_matcher_;
+ Action<F> repeated_action_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(TypedExpectation);
+}; // class TypedExpectation
+
+// A MockSpec object is used by ON_CALL() or EXPECT_CALL() for
+// specifying the default behavior of, or expectation on, a mock
+// function.
+
+// Note: class MockSpec really belongs to the ::testing namespace.
+// However if we define it in ::testing, MSVC will complain when
+// classes in ::testing::internal declare it as a friend class
+// template. To workaround this compiler bug, we define MockSpec in
+// ::testing::internal and import it into ::testing.
+
+// Logs a message including file and line number information.
+void LogWithLocation(testing::internal::LogSeverity severity,
+ const char* file, int line,
+ const string& message);
+
+template <typename F>
+class MockSpec {
+ public:
+ typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+ typedef typename internal::Function<F>::ArgumentMatcherTuple
+ ArgumentMatcherTuple;
+
+ // Constructs a MockSpec object, given the function mocker object
+ // that the spec is associated with.
+ explicit MockSpec(internal::FunctionMockerBase<F>* function_mocker)
+ : function_mocker_(function_mocker) {}
+
+ // Adds a new default action spec to the function mocker and returns
+ // the newly created spec.
+ internal::OnCallSpec<F>& InternalDefaultActionSetAt(
+ const char* file, int line, const char* obj, const char* call) {
+ LogWithLocation(internal::INFO, file, line,
+ string("ON_CALL(") + obj + ", " + call + ") invoked");
+ return function_mocker_->AddNewOnCallSpec(file, line, matchers_);
+ }
+
+ // Adds a new expectation spec to the function mocker and returns
+ // the newly created spec.
+ internal::TypedExpectation<F>& InternalExpectedAt(
+ const char* file, int line, const char* obj, const char* call) {
+ const string source_text(string("EXPECT_CALL(") + obj + ", " + call + ")");
+ LogWithLocation(internal::INFO, file, line, source_text + " invoked");
+ return function_mocker_->AddNewExpectation(
+ file, line, source_text, matchers_);
+ }
+
+ private:
+ template <typename Function>
+ friend class internal::FunctionMocker;
+
+ void SetMatchers(const ArgumentMatcherTuple& matchers) {
+ matchers_ = matchers;
+ }
+
+ // The function mocker that owns this spec.
+ internal::FunctionMockerBase<F>* const function_mocker_;
+ // The argument matchers specified in the spec.
+ ArgumentMatcherTuple matchers_;
+
+ GTEST_DISALLOW_ASSIGN_(MockSpec);
+}; // class MockSpec
+
+// MSVC warns about using 'this' in base member initializer list, so
+// we need to temporarily disable the warning. We have to do it for
+// the entire class to suppress the warning, even though it's about
+// the constructor only.
+
+#ifdef _MSC_VER
+# pragma warning(push) // Saves the current warning state.
+# pragma warning(disable:4355) // Temporarily disables warning 4355.
+#endif // _MSV_VER
+
+// C++ treats the void type specially. For example, you cannot define
+// a void-typed variable or pass a void value to a function.
+// ActionResultHolder<T> holds a value of type T, where T must be a
+// copyable type or void (T doesn't need to be default-constructable).
+// It hides the syntactic difference between void and other types, and
+// is used to unify the code for invoking both void-returning and
+// non-void-returning mock functions.
+
+// Untyped base class for ActionResultHolder<T>.
+class UntypedActionResultHolderBase {
+ public:
+ virtual ~UntypedActionResultHolderBase() {}
+
+ // Prints the held value as an action's result to os.
+ virtual void PrintAsActionResult(::std::ostream* os) const = 0;
+};
+
+// This generic definition is used when T is not void.
+template <typename T>
+class ActionResultHolder : public UntypedActionResultHolderBase {
+ public:
+ explicit ActionResultHolder(T a_value) : value_(a_value) {}
+
+ // The compiler-generated copy constructor and assignment operator
+ // are exactly what we need, so we don't need to define them.
+
+ // Returns the held value and deletes this object.
+ T GetValueAndDelete() const {
+ T retval(value_);
+ delete this;
+ return retval;
+ }
+
+ // Prints the held value as an action's result to os.
+ virtual void PrintAsActionResult(::std::ostream* os) const {
+ *os << "\n Returns: ";
+ // T may be a reference type, so we don't use UniversalPrint().
+ UniversalPrinter<T>::Print(value_, os);
+ }
+
+ // Performs the given mock function's default action and returns the
+ // result in a new-ed ActionResultHolder.
+ template <typename F>
+ static ActionResultHolder* PerformDefaultAction(
+ const FunctionMockerBase<F>* func_mocker,
+ const typename Function<F>::ArgumentTuple& args,
+ const string& call_description) {
+ return new ActionResultHolder(
+ func_mocker->PerformDefaultAction(args, call_description));
+ }
+
+ // Performs the given action and returns the result in a new-ed
+ // ActionResultHolder.
+ template <typename F>
+ static ActionResultHolder*
+ PerformAction(const Action<F>& action,
+ const typename Function<F>::ArgumentTuple& args) {
+ return new ActionResultHolder(action.Perform(args));
+ }
+
+ private:
+ T value_;
+
+ // T could be a reference type, so = isn't supported.
+ GTEST_DISALLOW_ASSIGN_(ActionResultHolder);
+};
+
+// Specialization for T = void.
+template <>
+class ActionResultHolder<void> : public UntypedActionResultHolderBase {
+ public:
+ void GetValueAndDelete() const { delete this; }
+
+ virtual void PrintAsActionResult(::std::ostream* /* os */) const {}
+
+ // Performs the given mock function's default action and returns NULL;
+ template <typename F>
+ static ActionResultHolder* PerformDefaultAction(
+ const FunctionMockerBase<F>* func_mocker,
+ const typename Function<F>::ArgumentTuple& args,
+ const string& call_description) {
+ func_mocker->PerformDefaultAction(args, call_description);
+ return NULL;
+ }
+
+ // Performs the given action and returns NULL.
+ template <typename F>
+ static ActionResultHolder* PerformAction(
+ const Action<F>& action,
+ const typename Function<F>::ArgumentTuple& args) {
+ action.Perform(args);
+ return NULL;
+ }
+};
+
+// The base of the function mocker class for the given function type.
+// We put the methods in this class instead of its child to avoid code
+// bloat.
+template <typename F>
+class FunctionMockerBase : public UntypedFunctionMockerBase {
+ public:
+ typedef typename Function<F>::Result Result;
+ typedef typename Function<F>::ArgumentTuple ArgumentTuple;
+ typedef typename Function<F>::ArgumentMatcherTuple ArgumentMatcherTuple;
+
+ FunctionMockerBase() : current_spec_(this) {}
+
+ // The destructor verifies that all expectations on this mock
+ // function have been satisfied. If not, it will report Google Test
+ // non-fatal failures for the violations.
+ // L < g_gmock_mutex
+ virtual ~FunctionMockerBase() {
+ MutexLock l(&g_gmock_mutex);
+ VerifyAndClearExpectationsLocked();
+ Mock::UnregisterLocked(this);
+ ClearDefaultActionsLocked();
+ }
+
+ // Returns the ON_CALL spec that matches this mock function with the
+ // given arguments; returns NULL if no matching ON_CALL is found.
+ // L = *
+ const OnCallSpec<F>* FindOnCallSpec(
+ const ArgumentTuple& args) const {
+ for (UntypedOnCallSpecs::const_reverse_iterator it
+ = untyped_on_call_specs_.rbegin();
+ it != untyped_on_call_specs_.rend(); ++it) {
+ const OnCallSpec<F>* spec = static_cast<const OnCallSpec<F>*>(*it);
+ if (spec->Matches(args))
+ return spec;
+ }
+
+ return NULL;
+ }
+
+ // Performs the default action of this mock function on the given arguments
+ // and returns the result. Asserts with a helpful call descrption if there is
+ // no valid return value. This method doesn't depend on the mutable state of
+ // this object, and thus can be called concurrently without locking.
+ // L = *
+ Result PerformDefaultAction(const ArgumentTuple& args,
+ const string& call_description) const {
+ const OnCallSpec<F>* const spec =
+ this->FindOnCallSpec(args);
+ if (spec != NULL) {
+ return spec->GetAction().Perform(args);
+ }
+ Assert(DefaultValue<Result>::Exists(), "", -1,
+ call_description + "\n The mock function has no default action "
+ "set, and its return type has no default value set.");
+ return DefaultValue<Result>::Get();
+ }
+
+ // Performs the default action with the given arguments and returns
+ // the action's result. The call description string will be used in
+ // the error message to describe the call in the case the default
+ // action fails. The caller is responsible for deleting the result.
+ // L = *
+ virtual UntypedActionResultHolderBase* UntypedPerformDefaultAction(
+ const void* untyped_args, // must point to an ArgumentTuple
+ const string& call_description) const {
+ const ArgumentTuple& args =
+ *static_cast<const ArgumentTuple*>(untyped_args);
+ return ResultHolder::PerformDefaultAction(this, args, call_description);
+ }
+
+ // Performs the given action with the given arguments and returns
+ // the action's result. The caller is responsible for deleting the
+ // result.
+ // L = *
+ virtual UntypedActionResultHolderBase* UntypedPerformAction(
+ const void* untyped_action, const void* untyped_args) const {
+ // Make a copy of the action before performing it, in case the
+ // action deletes the mock object (and thus deletes itself).
+ const Action<F> action = *static_cast<const Action<F>*>(untyped_action);
+ const ArgumentTuple& args =
+ *static_cast<const ArgumentTuple*>(untyped_args);
+ return ResultHolder::PerformAction(action, args);
+ }
+
+ // Implements UntypedFunctionMockerBase::ClearDefaultActionsLocked():
+ // clears the ON_CALL()s set on this mock function.
+ // L >= g_gmock_mutex
+ virtual void ClearDefaultActionsLocked() {
+ g_gmock_mutex.AssertHeld();
+ for (UntypedOnCallSpecs::const_iterator it =
+ untyped_on_call_specs_.begin();
+ it != untyped_on_call_specs_.end(); ++it) {
+ delete static_cast<const OnCallSpec<F>*>(*it);
+ }
+ untyped_on_call_specs_.clear();
+ }
+
+ protected:
+ template <typename Function>
+ friend class MockSpec;
+
+ typedef ActionResultHolder<Result> ResultHolder;
+
+ // Returns the result of invoking this mock function with the given
+ // arguments. This function can be safely called from multiple
+ // threads concurrently.
+ // L < g_gmock_mutex
+ Result InvokeWith(const ArgumentTuple& args) {
+ return static_cast<const ResultHolder*>(
+ this->UntypedInvokeWith(&args))->GetValueAndDelete();
+ }
+
+ // Adds and returns a default action spec for this mock function.
+ // L < g_gmock_mutex
+ OnCallSpec<F>& AddNewOnCallSpec(
+ const char* file, int line,
+ const ArgumentMatcherTuple& m) {
+ Mock::RegisterUseByOnCallOrExpectCall(MockObject(), file, line);
+ OnCallSpec<F>* const on_call_spec = new OnCallSpec<F>(file, line, m);
+ untyped_on_call_specs_.push_back(on_call_spec);
+ return *on_call_spec;
+ }
+
+ // Adds and returns an expectation spec for this mock function.
+ // L < g_gmock_mutex
+ TypedExpectation<F>& AddNewExpectation(
+ const char* file,
+ int line,
+ const string& source_text,
+ const ArgumentMatcherTuple& m) {
+ Mock::RegisterUseByOnCallOrExpectCall(MockObject(), file, line);
+ TypedExpectation<F>* const expectation =
+ new TypedExpectation<F>(this, file, line, source_text, m);
+ const linked_ptr<ExpectationBase> untyped_expectation(expectation);
+ untyped_expectations_.push_back(untyped_expectation);
+
+ // Adds this expectation into the implicit sequence if there is one.
+ Sequence* const implicit_sequence = g_gmock_implicit_sequence.get();
+ if (implicit_sequence != NULL) {
+ implicit_sequence->AddExpectation(Expectation(untyped_expectation));
+ }
+
+ return *expectation;
+ }
+
+ // The current spec (either default action spec or expectation spec)
+ // being described on this function mocker.
+ MockSpec<F>& current_spec() { return current_spec_; }
+
+ private:
+ template <typename Func> friend class TypedExpectation;
+
+ // Some utilities needed for implementing UntypedInvokeWith().
+
+ // Describes what default action will be performed for the given
+ // arguments.
+ // L = *
+ void DescribeDefaultActionTo(const ArgumentTuple& args,
+ ::std::ostream* os) const {
+ const OnCallSpec<F>* const spec = FindOnCallSpec(args);
+
+ if (spec == NULL) {
+ *os << (internal::type_equals<Result, void>::value ?
+ "returning directly.\n" :
+ "returning default value.\n");
+ } else {
+ *os << "taking default action specified at:\n"
+ << FormatFileLocation(spec->file(), spec->line()) << "\n";
+ }
+ }
+
+ // Writes a message that the call is uninteresting (i.e. neither
+ // explicitly expected nor explicitly unexpected) to the given
+ // ostream.
+ // L < g_gmock_mutex
+ virtual void UntypedDescribeUninterestingCall(const void* untyped_args,
+ ::std::ostream* os) const {
+ const ArgumentTuple& args =
+ *static_cast<const ArgumentTuple*>(untyped_args);
+ *os << "Uninteresting mock function call - ";
+ DescribeDefaultActionTo(args, os);
+ *os << " Function call: " << Name();
+ UniversalPrint(args, os);
+ }
+
+ // Returns the expectation that matches the given function arguments
+ // (or NULL is there's no match); when a match is found,
+ // untyped_action is set to point to the action that should be
+ // performed (or NULL if the action is "do default"), and
+ // is_excessive is modified to indicate whether the call exceeds the
+ // expected number.
+ //
+ // Critical section: We must find the matching expectation and the
+ // corresponding action that needs to be taken in an ATOMIC
+ // transaction. Otherwise another thread may call this mock
+ // method in the middle and mess up the state.
+ //
+ // However, performing the action has to be left out of the critical
+ // section. The reason is that we have no control on what the
+ // action does (it can invoke an arbitrary user function or even a
+ // mock function) and excessive locking could cause a dead lock.
+ // L < g_gmock_mutex
+ virtual const ExpectationBase* UntypedFindMatchingExpectation(
+ const void* untyped_args,
+ const void** untyped_action, bool* is_excessive,
+ ::std::ostream* what, ::std::ostream* why) {
+ const ArgumentTuple& args =
+ *static_cast<const ArgumentTuple*>(untyped_args);
+ MutexLock l(&g_gmock_mutex);
+ TypedExpectation<F>* exp = this->FindMatchingExpectationLocked(args);
+ if (exp == NULL) { // A match wasn't found.
+ this->FormatUnexpectedCallMessageLocked(args, what, why);
+ return NULL;
+ }
+
+ // This line must be done before calling GetActionForArguments(),
+ // which will increment the call count for *exp and thus affect
+ // its saturation status.
+ *is_excessive = exp->IsSaturated();
+ const Action<F>* action = exp->GetActionForArguments(this, args, what, why);
+ if (action != NULL && action->IsDoDefault())
+ action = NULL; // Normalize "do default" to NULL.
+ *untyped_action = action;
+ return exp;
+ }
+
+ // Prints the given function arguments to the ostream.
+ virtual void UntypedPrintArgs(const void* untyped_args,
+ ::std::ostream* os) const {
+ const ArgumentTuple& args =
+ *static_cast<const ArgumentTuple*>(untyped_args);
+ UniversalPrint(args, os);
+ }
+
+ // Returns the expectation that matches the arguments, or NULL if no
+ // expectation matches them.
+ // L >= g_gmock_mutex
+ TypedExpectation<F>* FindMatchingExpectationLocked(
+ const ArgumentTuple& args) const {
+ g_gmock_mutex.AssertHeld();
+ for (typename UntypedExpectations::const_reverse_iterator it =
+ untyped_expectations_.rbegin();
+ it != untyped_expectations_.rend(); ++it) {
+ TypedExpectation<F>* const exp =
+ static_cast<TypedExpectation<F>*>(it->get());
+ if (exp->ShouldHandleArguments(args)) {
+ return exp;
+ }
+ }
+ return NULL;
+ }
+
+ // Returns a message that the arguments don't match any expectation.
+ // L >= g_gmock_mutex
+ void FormatUnexpectedCallMessageLocked(const ArgumentTuple& args,
+ ::std::ostream* os,
+ ::std::ostream* why) const {
+ g_gmock_mutex.AssertHeld();
+ *os << "\nUnexpected mock function call - ";
+ DescribeDefaultActionTo(args, os);
+ PrintTriedExpectationsLocked(args, why);
+ }
+
+ // Prints a list of expectations that have been tried against the
+ // current mock function call.
+ // L >= g_gmock_mutex
+ void PrintTriedExpectationsLocked(const ArgumentTuple& args,
+ ::std::ostream* why) const {
+ g_gmock_mutex.AssertHeld();
+ const int count = static_cast<int>(untyped_expectations_.size());
+ *why << "Google Mock tried the following " << count << " "
+ << (count == 1 ? "expectation, but it didn't match" :
+ "expectations, but none matched")
+ << ":\n";
+ for (int i = 0; i < count; i++) {
+ TypedExpectation<F>* const expectation =
+ static_cast<TypedExpectation<F>*>(untyped_expectations_[i].get());
+ *why << "\n";
+ expectation->DescribeLocationTo(why);
+ if (count > 1) {
+ *why << "tried expectation #" << i << ": ";
+ }
+ *why << expectation->source_text() << "...\n";
+ expectation->ExplainMatchResultTo(args, why);
+ expectation->DescribeCallCountTo(why);
+ }
+ }
+
+ // The current spec (either default action spec or expectation spec)
+ // being described on this function mocker.
+ MockSpec<F> current_spec_;
+
+ // There is no generally useful and implementable semantics of
+ // copying a mock object, so copying a mock is usually a user error.
+ // Thus we disallow copying function mockers. If the user really
+ // wants to copy a mock object, he should implement his own copy
+ // operation, for example:
+ //
+ // class MockFoo : public Foo {
+ // public:
+ // // Defines a copy constructor explicitly.
+ // MockFoo(const MockFoo& src) {}
+ // ...
+ // };
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(FunctionMockerBase);
+}; // class FunctionMockerBase
+
+#ifdef _MSC_VER
+# pragma warning(pop) // Restores the warning state.
+#endif // _MSV_VER
+
+// Implements methods of FunctionMockerBase.
+
+// Verifies that all expectations on this mock function have been
+// satisfied. Reports one or more Google Test non-fatal failures and
+// returns false if not.
+// L >= g_gmock_mutex
+
+// Reports an uninteresting call (whose description is in msg) in the
+// manner specified by 'reaction'.
+void ReportUninterestingCall(CallReaction reaction, const string& msg);
+
+} // namespace internal
+
+// The style guide prohibits "using" statements in a namespace scope
+// inside a header file. However, the MockSpec class template is
+// meant to be defined in the ::testing namespace. The following line
+// is just a trick for working around a bug in MSVC 8.0, which cannot
+// handle it if we define MockSpec in ::testing.
+using internal::MockSpec;
+
+// Const(x) is a convenient function for obtaining a const reference
+// to x. This is useful for setting expectations on an overloaded
+// const mock method, e.g.
+//
+// class MockFoo : public FooInterface {
+// public:
+// MOCK_METHOD0(Bar, int());
+// MOCK_CONST_METHOD0(Bar, int&());
+// };
+//
+// MockFoo foo;
+// // Expects a call to non-const MockFoo::Bar().
+// EXPECT_CALL(foo, Bar());
+// // Expects a call to const MockFoo::Bar().
+// EXPECT_CALL(Const(foo), Bar());
+template <typename T>
+inline const T& Const(const T& x) { return x; }
+
+// Constructs an Expectation object that references and co-owns exp.
+inline Expectation::Expectation(internal::ExpectationBase& exp) // NOLINT
+ : expectation_base_(exp.GetHandle().expectation_base()) {}
+
+} // namespace testing
+
+// A separate macro is required to avoid compile errors when the name
+// of the method used in call is a result of macro expansion.
+// See CompilesWithMethodNameExpandedFromMacro tests in
+// internal/gmock-spec-builders_test.cc for more details.
+#define GMOCK_ON_CALL_IMPL_(obj, call) \
+ ((obj).gmock_##call).InternalDefaultActionSetAt(__FILE__, __LINE__, \
+ #obj, #call)
+#define ON_CALL(obj, call) GMOCK_ON_CALL_IMPL_(obj, call)
+
+#define GMOCK_EXPECT_CALL_IMPL_(obj, call) \
+ ((obj).gmock_##call).InternalExpectedAt(__FILE__, __LINE__, #obj, #call)
+#define EXPECT_CALL(obj, call) GMOCK_EXPECT_CALL_IMPL_(obj, call)
+
+#endif // GMOCK_INCLUDE_GMOCK_GMOCK_SPEC_BUILDERS_H_
+
+namespace testing {
+namespace internal {
+
+template <typename F>
+class FunctionMockerBase;
+
+// Note: class FunctionMocker really belongs to the ::testing
+// namespace. However if we define it in ::testing, MSVC will
+// complain when classes in ::testing::internal declare it as a
+// friend class template. To workaround this compiler bug, we define
+// FunctionMocker in ::testing::internal and import it into ::testing.
+template <typename F>
+class FunctionMocker;
+
+template <typename R>
+class FunctionMocker<R()> : public
+ internal::FunctionMockerBase<R()> {
+ public:
+ typedef R F();
+ typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+ MockSpec<F>& With() {
+ return this->current_spec();
+ }
+
+ R Invoke() {
+ // Even though gcc and MSVC don't enforce it, 'this->' is required
+ // by the C++ standard [14.6.4] here, as the base class type is
+ // dependent on the template argument (and thus shouldn't be
+ // looked into when resolving InvokeWith).
+ return this->InvokeWith(ArgumentTuple());
+ }
+};
+
+template <typename R, typename A1>
+class FunctionMocker<R(A1)> : public
+ internal::FunctionMockerBase<R(A1)> {
+ public:
+ typedef R F(A1);
+ typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+ MockSpec<F>& With(const Matcher<A1>& m1) {
+ this->current_spec().SetMatchers(::std::tr1::make_tuple(m1));
+ return this->current_spec();
+ }
+
+ R Invoke(A1 a1) {
+ // Even though gcc and MSVC don't enforce it, 'this->' is required
+ // by the C++ standard [14.6.4] here, as the base class type is
+ // dependent on the template argument (and thus shouldn't be
+ // looked into when resolving InvokeWith).
+ return this->InvokeWith(ArgumentTuple(a1));
+ }
+};
+
+template <typename R, typename A1, typename A2>
+class FunctionMocker<R(A1, A2)> : public
+ internal::FunctionMockerBase<R(A1, A2)> {
+ public:
+ typedef R F(A1, A2);
+ typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+ MockSpec<F>& With(const Matcher<A1>& m1, const Matcher<A2>& m2) {
+ this->current_spec().SetMatchers(::std::tr1::make_tuple(m1, m2));
+ return this->current_spec();
+ }
+
+ R Invoke(A1 a1, A2 a2) {
+ // Even though gcc and MSVC don't enforce it, 'this->' is required
+ // by the C++ standard [14.6.4] here, as the base class type is
+ // dependent on the template argument (and thus shouldn't be
+ // looked into when resolving InvokeWith).
+ return this->InvokeWith(ArgumentTuple(a1, a2));
+ }
+};
+
+template <typename R, typename A1, typename A2, typename A3>
+class FunctionMocker<R(A1, A2, A3)> : public
+ internal::FunctionMockerBase<R(A1, A2, A3)> {
+ public:
+ typedef R F(A1, A2, A3);
+ typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+ MockSpec<F>& With(const Matcher<A1>& m1, const Matcher<A2>& m2,
+ const Matcher<A3>& m3) {
+ this->current_spec().SetMatchers(::std::tr1::make_tuple(m1, m2, m3));
+ return this->current_spec();
+ }
+
+ R Invoke(A1 a1, A2 a2, A3 a3) {
+ // Even though gcc and MSVC don't enforce it, 'this->' is required
+ // by the C++ standard [14.6.4] here, as the base class type is
+ // dependent on the template argument (and thus shouldn't be
+ // looked into when resolving InvokeWith).
+ return this->InvokeWith(ArgumentTuple(a1, a2, a3));
+ }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4>
+class FunctionMocker<R(A1, A2, A3, A4)> : public
+ internal::FunctionMockerBase<R(A1, A2, A3, A4)> {
+ public:
+ typedef R F(A1, A2, A3, A4);
+ typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+ MockSpec<F>& With(const Matcher<A1>& m1, const Matcher<A2>& m2,
+ const Matcher<A3>& m3, const Matcher<A4>& m4) {
+ this->current_spec().SetMatchers(::std::tr1::make_tuple(m1, m2, m3, m4));
+ return this->current_spec();
+ }
+
+ R Invoke(A1 a1, A2 a2, A3 a3, A4 a4) {
+ // Even though gcc and MSVC don't enforce it, 'this->' is required
+ // by the C++ standard [14.6.4] here, as the base class type is
+ // dependent on the template argument (and thus shouldn't be
+ // looked into when resolving InvokeWith).
+ return this->InvokeWith(ArgumentTuple(a1, a2, a3, a4));
+ }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5>
+class FunctionMocker<R(A1, A2, A3, A4, A5)> : public
+ internal::FunctionMockerBase<R(A1, A2, A3, A4, A5)> {
+ public:
+ typedef R F(A1, A2, A3, A4, A5);
+ typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+ MockSpec<F>& With(const Matcher<A1>& m1, const Matcher<A2>& m2,
+ const Matcher<A3>& m3, const Matcher<A4>& m4, const Matcher<A5>& m5) {
+ this->current_spec().SetMatchers(::std::tr1::make_tuple(m1, m2, m3, m4,
+ m5));
+ return this->current_spec();
+ }
+
+ R Invoke(A1 a1, A2 a2, A3 a3, A4 a4, A5 a5) {
+ // Even though gcc and MSVC don't enforce it, 'this->' is required
+ // by the C++ standard [14.6.4] here, as the base class type is
+ // dependent on the template argument (and thus shouldn't be
+ // looked into when resolving InvokeWith).
+ return this->InvokeWith(ArgumentTuple(a1, a2, a3, a4, a5));
+ }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6>
+class FunctionMocker<R(A1, A2, A3, A4, A5, A6)> : public
+ internal::FunctionMockerBase<R(A1, A2, A3, A4, A5, A6)> {
+ public:
+ typedef R F(A1, A2, A3, A4, A5, A6);
+ typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+ MockSpec<F>& With(const Matcher<A1>& m1, const Matcher<A2>& m2,
+ const Matcher<A3>& m3, const Matcher<A4>& m4, const Matcher<A5>& m5,
+ const Matcher<A6>& m6) {
+ this->current_spec().SetMatchers(::std::tr1::make_tuple(m1, m2, m3, m4, m5,
+ m6));
+ return this->current_spec();
+ }
+
+ R Invoke(A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6) {
+ // Even though gcc and MSVC don't enforce it, 'this->' is required
+ // by the C++ standard [14.6.4] here, as the base class type is
+ // dependent on the template argument (and thus shouldn't be
+ // looked into when resolving InvokeWith).
+ return this->InvokeWith(ArgumentTuple(a1, a2, a3, a4, a5, a6));
+ }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6, typename A7>
+class FunctionMocker<R(A1, A2, A3, A4, A5, A6, A7)> : public
+ internal::FunctionMockerBase<R(A1, A2, A3, A4, A5, A6, A7)> {
+ public:
+ typedef R F(A1, A2, A3, A4, A5, A6, A7);
+ typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+ MockSpec<F>& With(const Matcher<A1>& m1, const Matcher<A2>& m2,
+ const Matcher<A3>& m3, const Matcher<A4>& m4, const Matcher<A5>& m5,
+ const Matcher<A6>& m6, const Matcher<A7>& m7) {
+ this->current_spec().SetMatchers(::std::tr1::make_tuple(m1, m2, m3, m4, m5,
+ m6, m7));
+ return this->current_spec();
+ }
+
+ R Invoke(A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6, A7 a7) {
+ // Even though gcc and MSVC don't enforce it, 'this->' is required
+ // by the C++ standard [14.6.4] here, as the base class type is
+ // dependent on the template argument (and thus shouldn't be
+ // looked into when resolving InvokeWith).
+ return this->InvokeWith(ArgumentTuple(a1, a2, a3, a4, a5, a6, a7));
+ }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6, typename A7, typename A8>
+class FunctionMocker<R(A1, A2, A3, A4, A5, A6, A7, A8)> : public
+ internal::FunctionMockerBase<R(A1, A2, A3, A4, A5, A6, A7, A8)> {
+ public:
+ typedef R F(A1, A2, A3, A4, A5, A6, A7, A8);
+ typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+ MockSpec<F>& With(const Matcher<A1>& m1, const Matcher<A2>& m2,
+ const Matcher<A3>& m3, const Matcher<A4>& m4, const Matcher<A5>& m5,
+ const Matcher<A6>& m6, const Matcher<A7>& m7, const Matcher<A8>& m8) {
+ this->current_spec().SetMatchers(::std::tr1::make_tuple(m1, m2, m3, m4, m5,
+ m6, m7, m8));
+ return this->current_spec();
+ }
+
+ R Invoke(A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6, A7 a7, A8 a8) {
+ // Even though gcc and MSVC don't enforce it, 'this->' is required
+ // by the C++ standard [14.6.4] here, as the base class type is
+ // dependent on the template argument (and thus shouldn't be
+ // looked into when resolving InvokeWith).
+ return this->InvokeWith(ArgumentTuple(a1, a2, a3, a4, a5, a6, a7, a8));
+ }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6, typename A7, typename A8, typename A9>
+class FunctionMocker<R(A1, A2, A3, A4, A5, A6, A7, A8, A9)> : public
+ internal::FunctionMockerBase<R(A1, A2, A3, A4, A5, A6, A7, A8, A9)> {
+ public:
+ typedef R F(A1, A2, A3, A4, A5, A6, A7, A8, A9);
+ typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+ MockSpec<F>& With(const Matcher<A1>& m1, const Matcher<A2>& m2,
+ const Matcher<A3>& m3, const Matcher<A4>& m4, const Matcher<A5>& m5,
+ const Matcher<A6>& m6, const Matcher<A7>& m7, const Matcher<A8>& m8,
+ const Matcher<A9>& m9) {
+ this->current_spec().SetMatchers(::std::tr1::make_tuple(m1, m2, m3, m4, m5,
+ m6, m7, m8, m9));
+ return this->current_spec();
+ }
+
+ R Invoke(A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6, A7 a7, A8 a8, A9 a9) {
+ // Even though gcc and MSVC don't enforce it, 'this->' is required
+ // by the C++ standard [14.6.4] here, as the base class type is
+ // dependent on the template argument (and thus shouldn't be
+ // looked into when resolving InvokeWith).
+ return this->InvokeWith(ArgumentTuple(a1, a2, a3, a4, a5, a6, a7, a8, a9));
+ }
+};
+
+template <typename R, typename A1, typename A2, typename A3, typename A4,
+ typename A5, typename A6, typename A7, typename A8, typename A9,
+ typename A10>
+class FunctionMocker<R(A1, A2, A3, A4, A5, A6, A7, A8, A9, A10)> : public
+ internal::FunctionMockerBase<R(A1, A2, A3, A4, A5, A6, A7, A8, A9, A10)> {
+ public:
+ typedef R F(A1, A2, A3, A4, A5, A6, A7, A8, A9, A10);
+ typedef typename internal::Function<F>::ArgumentTuple ArgumentTuple;
+
+ MockSpec<F>& With(const Matcher<A1>& m1, const Matcher<A2>& m2,
+ const Matcher<A3>& m3, const Matcher<A4>& m4, const Matcher<A5>& m5,
+ const Matcher<A6>& m6, const Matcher<A7>& m7, const Matcher<A8>& m8,
+ const Matcher<A9>& m9, const Matcher<A10>& m10) {
+ this->current_spec().SetMatchers(::std::tr1::make_tuple(m1, m2, m3, m4, m5,
+ m6, m7, m8, m9, m10));
+ return this->current_spec();
+ }
+
+ R Invoke(A1 a1, A2 a2, A3 a3, A4 a4, A5 a5, A6 a6, A7 a7, A8 a8, A9 a9,
+ A10 a10) {
+ // Even though gcc and MSVC don't enforce it, 'this->' is required
+ // by the C++ standard [14.6.4] here, as the base class type is
+ // dependent on the template argument (and thus shouldn't be
+ // looked into when resolving InvokeWith).
+ return this->InvokeWith(ArgumentTuple(a1, a2, a3, a4, a5, a6, a7, a8, a9,
+ a10));
+ }
+};
+
+} // namespace internal
+
+// The style guide prohibits "using" statements in a namespace scope
+// inside a header file. However, the FunctionMocker class template
+// is meant to be defined in the ::testing namespace. The following
+// line is just a trick for working around a bug in MSVC 8.0, which
+// cannot handle it if we define FunctionMocker in ::testing.
+using internal::FunctionMocker;
+
+// The result type of function type F.
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_RESULT_(tn, F) tn ::testing::internal::Function<F>::Result
+
+// The type of argument N of function type F.
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_ARG_(tn, F, N) tn ::testing::internal::Function<F>::Argument##N
+
+// The matcher type for argument N of function type F.
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_MATCHER_(tn, F, N) const ::testing::Matcher<GMOCK_ARG_(tn, F, N)>&
+
+// The variable for mocking the given method.
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_MOCKER_(arity, constness, Method) \
+ GTEST_CONCAT_TOKEN_(gmock##constness##arity##_##Method##_, __LINE__)
+
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_METHOD0_(tn, constness, ct, Method, F) \
+ GMOCK_RESULT_(tn, F) ct Method() constness { \
+ GTEST_COMPILE_ASSERT_(::std::tr1::tuple_size< \
+ tn ::testing::internal::Function<F>::ArgumentTuple>::value == 0, \
+ this_method_does_not_take_0_arguments); \
+ GMOCK_MOCKER_(0, constness, Method).SetOwnerAndName(this, #Method); \
+ return GMOCK_MOCKER_(0, constness, Method).Invoke(); \
+ } \
+ ::testing::MockSpec<F>& \
+ gmock_##Method() constness { \
+ GMOCK_MOCKER_(0, constness, Method).RegisterOwner(this); \
+ return GMOCK_MOCKER_(0, constness, Method).With(); \
+ } \
+ mutable ::testing::FunctionMocker<F> GMOCK_MOCKER_(0, constness, Method)
+
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_METHOD1_(tn, constness, ct, Method, F) \
+ GMOCK_RESULT_(tn, F) ct Method(GMOCK_ARG_(tn, F, 1) gmock_a1) constness { \
+ GTEST_COMPILE_ASSERT_(::std::tr1::tuple_size< \
+ tn ::testing::internal::Function<F>::ArgumentTuple>::value == 1, \
+ this_method_does_not_take_1_argument); \
+ GMOCK_MOCKER_(1, constness, Method).SetOwnerAndName(this, #Method); \
+ return GMOCK_MOCKER_(1, constness, Method).Invoke(gmock_a1); \
+ } \
+ ::testing::MockSpec<F>& \
+ gmock_##Method(GMOCK_MATCHER_(tn, F, 1) gmock_a1) constness { \
+ GMOCK_MOCKER_(1, constness, Method).RegisterOwner(this); \
+ return GMOCK_MOCKER_(1, constness, Method).With(gmock_a1); \
+ } \
+ mutable ::testing::FunctionMocker<F> GMOCK_MOCKER_(1, constness, Method)
+
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_METHOD2_(tn, constness, ct, Method, F) \
+ GMOCK_RESULT_(tn, F) ct Method(GMOCK_ARG_(tn, F, 1) gmock_a1, \
+ GMOCK_ARG_(tn, F, 2) gmock_a2) constness { \
+ GTEST_COMPILE_ASSERT_(::std::tr1::tuple_size< \
+ tn ::testing::internal::Function<F>::ArgumentTuple>::value == 2, \
+ this_method_does_not_take_2_arguments); \
+ GMOCK_MOCKER_(2, constness, Method).SetOwnerAndName(this, #Method); \
+ return GMOCK_MOCKER_(2, constness, Method).Invoke(gmock_a1, gmock_a2); \
+ } \
+ ::testing::MockSpec<F>& \
+ gmock_##Method(GMOCK_MATCHER_(tn, F, 1) gmock_a1, \
+ GMOCK_MATCHER_(tn, F, 2) gmock_a2) constness { \
+ GMOCK_MOCKER_(2, constness, Method).RegisterOwner(this); \
+ return GMOCK_MOCKER_(2, constness, Method).With(gmock_a1, gmock_a2); \
+ } \
+ mutable ::testing::FunctionMocker<F> GMOCK_MOCKER_(2, constness, Method)
+
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_METHOD3_(tn, constness, ct, Method, F) \
+ GMOCK_RESULT_(tn, F) ct Method(GMOCK_ARG_(tn, F, 1) gmock_a1, \
+ GMOCK_ARG_(tn, F, 2) gmock_a2, \
+ GMOCK_ARG_(tn, F, 3) gmock_a3) constness { \
+ GTEST_COMPILE_ASSERT_(::std::tr1::tuple_size< \
+ tn ::testing::internal::Function<F>::ArgumentTuple>::value == 3, \
+ this_method_does_not_take_3_arguments); \
+ GMOCK_MOCKER_(3, constness, Method).SetOwnerAndName(this, #Method); \
+ return GMOCK_MOCKER_(3, constness, Method).Invoke(gmock_a1, gmock_a2, \
+ gmock_a3); \
+ } \
+ ::testing::MockSpec<F>& \
+ gmock_##Method(GMOCK_MATCHER_(tn, F, 1) gmock_a1, \
+ GMOCK_MATCHER_(tn, F, 2) gmock_a2, \
+ GMOCK_MATCHER_(tn, F, 3) gmock_a3) constness { \
+ GMOCK_MOCKER_(3, constness, Method).RegisterOwner(this); \
+ return GMOCK_MOCKER_(3, constness, Method).With(gmock_a1, gmock_a2, \
+ gmock_a3); \
+ } \
+ mutable ::testing::FunctionMocker<F> GMOCK_MOCKER_(3, constness, Method)
+
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_METHOD4_(tn, constness, ct, Method, F) \
+ GMOCK_RESULT_(tn, F) ct Method(GMOCK_ARG_(tn, F, 1) gmock_a1, \
+ GMOCK_ARG_(tn, F, 2) gmock_a2, \
+ GMOCK_ARG_(tn, F, 3) gmock_a3, \
+ GMOCK_ARG_(tn, F, 4) gmock_a4) constness { \
+ GTEST_COMPILE_ASSERT_(::std::tr1::tuple_size< \
+ tn ::testing::internal::Function<F>::ArgumentTuple>::value == 4, \
+ this_method_does_not_take_4_arguments); \
+ GMOCK_MOCKER_(4, constness, Method).SetOwnerAndName(this, #Method); \
+ return GMOCK_MOCKER_(4, constness, Method).Invoke(gmock_a1, gmock_a2, \
+ gmock_a3, gmock_a4); \
+ } \
+ ::testing::MockSpec<F>& \
+ gmock_##Method(GMOCK_MATCHER_(tn, F, 1) gmock_a1, \
+ GMOCK_MATCHER_(tn, F, 2) gmock_a2, \
+ GMOCK_MATCHER_(tn, F, 3) gmock_a3, \
+ GMOCK_MATCHER_(tn, F, 4) gmock_a4) constness { \
+ GMOCK_MOCKER_(4, constness, Method).RegisterOwner(this); \
+ return GMOCK_MOCKER_(4, constness, Method).With(gmock_a1, gmock_a2, \
+ gmock_a3, gmock_a4); \
+ } \
+ mutable ::testing::FunctionMocker<F> GMOCK_MOCKER_(4, constness, Method)
+
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_METHOD5_(tn, constness, ct, Method, F) \
+ GMOCK_RESULT_(tn, F) ct Method(GMOCK_ARG_(tn, F, 1) gmock_a1, \
+ GMOCK_ARG_(tn, F, 2) gmock_a2, \
+ GMOCK_ARG_(tn, F, 3) gmock_a3, \
+ GMOCK_ARG_(tn, F, 4) gmock_a4, \
+ GMOCK_ARG_(tn, F, 5) gmock_a5) constness { \
+ GTEST_COMPILE_ASSERT_(::std::tr1::tuple_size< \
+ tn ::testing::internal::Function<F>::ArgumentTuple>::value == 5, \
+ this_method_does_not_take_5_arguments); \
+ GMOCK_MOCKER_(5, constness, Method).SetOwnerAndName(this, #Method); \
+ return GMOCK_MOCKER_(5, constness, Method).Invoke(gmock_a1, gmock_a2, \
+ gmock_a3, gmock_a4, gmock_a5); \
+ } \
+ ::testing::MockSpec<F>& \
+ gmock_##Method(GMOCK_MATCHER_(tn, F, 1) gmock_a1, \
+ GMOCK_MATCHER_(tn, F, 2) gmock_a2, \
+ GMOCK_MATCHER_(tn, F, 3) gmock_a3, \
+ GMOCK_MATCHER_(tn, F, 4) gmock_a4, \
+ GMOCK_MATCHER_(tn, F, 5) gmock_a5) constness { \
+ GMOCK_MOCKER_(5, constness, Method).RegisterOwner(this); \
+ return GMOCK_MOCKER_(5, constness, Method).With(gmock_a1, gmock_a2, \
+ gmock_a3, gmock_a4, gmock_a5); \
+ } \
+ mutable ::testing::FunctionMocker<F> GMOCK_MOCKER_(5, constness, Method)
+
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_METHOD6_(tn, constness, ct, Method, F) \
+ GMOCK_RESULT_(tn, F) ct Method(GMOCK_ARG_(tn, F, 1) gmock_a1, \
+ GMOCK_ARG_(tn, F, 2) gmock_a2, \
+ GMOCK_ARG_(tn, F, 3) gmock_a3, \
+ GMOCK_ARG_(tn, F, 4) gmock_a4, \
+ GMOCK_ARG_(tn, F, 5) gmock_a5, \
+ GMOCK_ARG_(tn, F, 6) gmock_a6) constness { \
+ GTEST_COMPILE_ASSERT_(::std::tr1::tuple_size< \
+ tn ::testing::internal::Function<F>::ArgumentTuple>::value == 6, \
+ this_method_does_not_take_6_arguments); \
+ GMOCK_MOCKER_(6, constness, Method).SetOwnerAndName(this, #Method); \
+ return GMOCK_MOCKER_(6, constness, Method).Invoke(gmock_a1, gmock_a2, \
+ gmock_a3, gmock_a4, gmock_a5, gmock_a6); \
+ } \
+ ::testing::MockSpec<F>& \
+ gmock_##Method(GMOCK_MATCHER_(tn, F, 1) gmock_a1, \
+ GMOCK_MATCHER_(tn, F, 2) gmock_a2, \
+ GMOCK_MATCHER_(tn, F, 3) gmock_a3, \
+ GMOCK_MATCHER_(tn, F, 4) gmock_a4, \
+ GMOCK_MATCHER_(tn, F, 5) gmock_a5, \
+ GMOCK_MATCHER_(tn, F, 6) gmock_a6) constness { \
+ GMOCK_MOCKER_(6, constness, Method).RegisterOwner(this); \
+ return GMOCK_MOCKER_(6, constness, Method).With(gmock_a1, gmock_a2, \
+ gmock_a3, gmock_a4, gmock_a5, gmock_a6); \
+ } \
+ mutable ::testing::FunctionMocker<F> GMOCK_MOCKER_(6, constness, Method)
+
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_METHOD7_(tn, constness, ct, Method, F) \
+ GMOCK_RESULT_(tn, F) ct Method(GMOCK_ARG_(tn, F, 1) gmock_a1, \
+ GMOCK_ARG_(tn, F, 2) gmock_a2, \
+ GMOCK_ARG_(tn, F, 3) gmock_a3, \
+ GMOCK_ARG_(tn, F, 4) gmock_a4, \
+ GMOCK_ARG_(tn, F, 5) gmock_a5, \
+ GMOCK_ARG_(tn, F, 6) gmock_a6, \
+ GMOCK_ARG_(tn, F, 7) gmock_a7) constness { \
+ GTEST_COMPILE_ASSERT_(::std::tr1::tuple_size< \
+ tn ::testing::internal::Function<F>::ArgumentTuple>::value == 7, \
+ this_method_does_not_take_7_arguments); \
+ GMOCK_MOCKER_(7, constness, Method).SetOwnerAndName(this, #Method); \
+ return GMOCK_MOCKER_(7, constness, Method).Invoke(gmock_a1, gmock_a2, \
+ gmock_a3, gmock_a4, gmock_a5, gmock_a6, gmock_a7); \
+ } \
+ ::testing::MockSpec<F>& \
+ gmock_##Method(GMOCK_MATCHER_(tn, F, 1) gmock_a1, \
+ GMOCK_MATCHER_(tn, F, 2) gmock_a2, \
+ GMOCK_MATCHER_(tn, F, 3) gmock_a3, \
+ GMOCK_MATCHER_(tn, F, 4) gmock_a4, \
+ GMOCK_MATCHER_(tn, F, 5) gmock_a5, \
+ GMOCK_MATCHER_(tn, F, 6) gmock_a6, \
+ GMOCK_MATCHER_(tn, F, 7) gmock_a7) constness { \
+ GMOCK_MOCKER_(7, constness, Method).RegisterOwner(this); \
+ return GMOCK_MOCKER_(7, constness, Method).With(gmock_a1, gmock_a2, \
+ gmock_a3, gmock_a4, gmock_a5, gmock_a6, gmock_a7); \
+ } \
+ mutable ::testing::FunctionMocker<F> GMOCK_MOCKER_(7, constness, Method)
+
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_METHOD8_(tn, constness, ct, Method, F) \
+ GMOCK_RESULT_(tn, F) ct Method(GMOCK_ARG_(tn, F, 1) gmock_a1, \
+ GMOCK_ARG_(tn, F, 2) gmock_a2, \
+ GMOCK_ARG_(tn, F, 3) gmock_a3, \
+ GMOCK_ARG_(tn, F, 4) gmock_a4, \
+ GMOCK_ARG_(tn, F, 5) gmock_a5, \
+ GMOCK_ARG_(tn, F, 6) gmock_a6, \
+ GMOCK_ARG_(tn, F, 7) gmock_a7, \
+ GMOCK_ARG_(tn, F, 8) gmock_a8) constness { \
+ GTEST_COMPILE_ASSERT_(::std::tr1::tuple_size< \
+ tn ::testing::internal::Function<F>::ArgumentTuple>::value == 8, \
+ this_method_does_not_take_8_arguments); \
+ GMOCK_MOCKER_(8, constness, Method).SetOwnerAndName(this, #Method); \
+ return GMOCK_MOCKER_(8, constness, Method).Invoke(gmock_a1, gmock_a2, \
+ gmock_a3, gmock_a4, gmock_a5, gmock_a6, gmock_a7, gmock_a8); \
+ } \
+ ::testing::MockSpec<F>& \
+ gmock_##Method(GMOCK_MATCHER_(tn, F, 1) gmock_a1, \
+ GMOCK_MATCHER_(tn, F, 2) gmock_a2, \
+ GMOCK_MATCHER_(tn, F, 3) gmock_a3, \
+ GMOCK_MATCHER_(tn, F, 4) gmock_a4, \
+ GMOCK_MATCHER_(tn, F, 5) gmock_a5, \
+ GMOCK_MATCHER_(tn, F, 6) gmock_a6, \
+ GMOCK_MATCHER_(tn, F, 7) gmock_a7, \
+ GMOCK_MATCHER_(tn, F, 8) gmock_a8) constness { \
+ GMOCK_MOCKER_(8, constness, Method).RegisterOwner(this); \
+ return GMOCK_MOCKER_(8, constness, Method).With(gmock_a1, gmock_a2, \
+ gmock_a3, gmock_a4, gmock_a5, gmock_a6, gmock_a7, gmock_a8); \
+ } \
+ mutable ::testing::FunctionMocker<F> GMOCK_MOCKER_(8, constness, Method)
+
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_METHOD9_(tn, constness, ct, Method, F) \
+ GMOCK_RESULT_(tn, F) ct Method(GMOCK_ARG_(tn, F, 1) gmock_a1, \
+ GMOCK_ARG_(tn, F, 2) gmock_a2, \
+ GMOCK_ARG_(tn, F, 3) gmock_a3, \
+ GMOCK_ARG_(tn, F, 4) gmock_a4, \
+ GMOCK_ARG_(tn, F, 5) gmock_a5, \
+ GMOCK_ARG_(tn, F, 6) gmock_a6, \
+ GMOCK_ARG_(tn, F, 7) gmock_a7, \
+ GMOCK_ARG_(tn, F, 8) gmock_a8, \
+ GMOCK_ARG_(tn, F, 9) gmock_a9) constness { \
+ GTEST_COMPILE_ASSERT_(::std::tr1::tuple_size< \
+ tn ::testing::internal::Function<F>::ArgumentTuple>::value == 9, \
+ this_method_does_not_take_9_arguments); \
+ GMOCK_MOCKER_(9, constness, Method).SetOwnerAndName(this, #Method); \
+ return GMOCK_MOCKER_(9, constness, Method).Invoke(gmock_a1, gmock_a2, \
+ gmock_a3, gmock_a4, gmock_a5, gmock_a6, gmock_a7, gmock_a8, \
+ gmock_a9); \
+ } \
+ ::testing::MockSpec<F>& \
+ gmock_##Method(GMOCK_MATCHER_(tn, F, 1) gmock_a1, \
+ GMOCK_MATCHER_(tn, F, 2) gmock_a2, \
+ GMOCK_MATCHER_(tn, F, 3) gmock_a3, \
+ GMOCK_MATCHER_(tn, F, 4) gmock_a4, \
+ GMOCK_MATCHER_(tn, F, 5) gmock_a5, \
+ GMOCK_MATCHER_(tn, F, 6) gmock_a6, \
+ GMOCK_MATCHER_(tn, F, 7) gmock_a7, \
+ GMOCK_MATCHER_(tn, F, 8) gmock_a8, \
+ GMOCK_MATCHER_(tn, F, 9) gmock_a9) constness { \
+ GMOCK_MOCKER_(9, constness, Method).RegisterOwner(this); \
+ return GMOCK_MOCKER_(9, constness, Method).With(gmock_a1, gmock_a2, \
+ gmock_a3, gmock_a4, gmock_a5, gmock_a6, gmock_a7, gmock_a8, \
+ gmock_a9); \
+ } \
+ mutable ::testing::FunctionMocker<F> GMOCK_MOCKER_(9, constness, Method)
+
+// INTERNAL IMPLEMENTATION - DON'T USE IN USER CODE!!!
+#define GMOCK_METHOD10_(tn, constness, ct, Method, F) \
+ GMOCK_RESULT_(tn, F) ct Method(GMOCK_ARG_(tn, F, 1) gmock_a1, \
+ GMOCK_ARG_(tn, F, 2) gmock_a2, \
+ GMOCK_ARG_(tn, F, 3) gmock_a3, \
+ GMOCK_ARG_(tn, F, 4) gmock_a4, \
+ GMOCK_ARG_(tn, F, 5) gmock_a5, \
+ GMOCK_ARG_(tn, F, 6) gmock_a6, \
+ GMOCK_ARG_(tn, F, 7) gmock_a7, \
+ GMOCK_ARG_(tn, F, 8) gmock_a8, \
+ GMOCK_ARG_(tn, F, 9) gmock_a9, \
+ GMOCK_ARG_(tn, F, 10) gmock_a10) constness { \
+ GTEST_COMPILE_ASSERT_(::std::tr1::tuple_size< \
+ tn ::testing::internal::Function<F>::ArgumentTuple>::value == 10, \
+ this_method_does_not_take_10_arguments); \
+ GMOCK_MOCKER_(10, constness, Method).SetOwnerAndName(this, #Method); \
+ return GMOCK_MOCKER_(10, constness, Method).Invoke(gmock_a1, gmock_a2, \
+ gmock_a3, gmock_a4, gmock_a5, gmock_a6, gmock_a7, gmock_a8, gmock_a9, \
+ gmock_a10); \
+ } \
+ ::testing::MockSpec<F>& \
+ gmock_##Method(GMOCK_MATCHER_(tn, F, 1) gmock_a1, \
+ GMOCK_MATCHER_(tn, F, 2) gmock_a2, \
+ GMOCK_MATCHER_(tn, F, 3) gmock_a3, \
+ GMOCK_MATCHER_(tn, F, 4) gmock_a4, \
+ GMOCK_MATCHER_(tn, F, 5) gmock_a5, \
+ GMOCK_MATCHER_(tn, F, 6) gmock_a6, \
+ GMOCK_MATCHER_(tn, F, 7) gmock_a7, \
+ GMOCK_MATCHER_(tn, F, 8) gmock_a8, \
+ GMOCK_MATCHER_(tn, F, 9) gmock_a9, \
+ GMOCK_MATCHER_(tn, F, 10) gmock_a10) constness { \
+ GMOCK_MOCKER_(10, constness, Method).RegisterOwner(this); \
+ return GMOCK_MOCKER_(10, constness, Method).With(gmock_a1, gmock_a2, \
+ gmock_a3, gmock_a4, gmock_a5, gmock_a6, gmock_a7, gmock_a8, gmock_a9, \
+ gmock_a10); \
+ } \
+ mutable ::testing::FunctionMocker<F> GMOCK_MOCKER_(10, constness, Method)
+
+#define MOCK_METHOD0(m, F) GMOCK_METHOD0_(, , , m, F)
+#define MOCK_METHOD1(m, F) GMOCK_METHOD1_(, , , m, F)
+#define MOCK_METHOD2(m, F) GMOCK_METHOD2_(, , , m, F)
+#define MOCK_METHOD3(m, F) GMOCK_METHOD3_(, , , m, F)
+#define MOCK_METHOD4(m, F) GMOCK_METHOD4_(, , , m, F)
+#define MOCK_METHOD5(m, F) GMOCK_METHOD5_(, , , m, F)
+#define MOCK_METHOD6(m, F) GMOCK_METHOD6_(, , , m, F)
+#define MOCK_METHOD7(m, F) GMOCK_METHOD7_(, , , m, F)
+#define MOCK_METHOD8(m, F) GMOCK_METHOD8_(, , , m, F)
+#define MOCK_METHOD9(m, F) GMOCK_METHOD9_(, , , m, F)
+#define MOCK_METHOD10(m, F) GMOCK_METHOD10_(, , , m, F)
+
+#define MOCK_CONST_METHOD0(m, F) GMOCK_METHOD0_(, const, , m, F)
+#define MOCK_CONST_METHOD1(m, F) GMOCK_METHOD1_(, const, , m, F)
+#define MOCK_CONST_METHOD2(m, F) GMOCK_METHOD2_(, const, , m, F)
+#define MOCK_CONST_METHOD3(m, F) GMOCK_METHOD3_(, const, , m, F)
+#define MOCK_CONST_METHOD4(m, F) GMOCK_METHOD4_(, const, , m, F)
+#define MOCK_CONST_METHOD5(m, F) GMOCK_METHOD5_(, const, , m, F)
+#define MOCK_CONST_METHOD6(m, F) GMOCK_METHOD6_(, const, , m, F)
+#define MOCK_CONST_METHOD7(m, F) GMOCK_METHOD7_(, const, , m, F)
+#define MOCK_CONST_METHOD8(m, F) GMOCK_METHOD8_(, const, , m, F)
+#define MOCK_CONST_METHOD9(m, F) GMOCK_METHOD9_(, const, , m, F)
+#define MOCK_CONST_METHOD10(m, F) GMOCK_METHOD10_(, const, , m, F)
+
+#define MOCK_METHOD0_T(m, F) GMOCK_METHOD0_(typename, , , m, F)
+#define MOCK_METHOD1_T(m, F) GMOCK_METHOD1_(typename, , , m, F)
+#define MOCK_METHOD2_T(m, F) GMOCK_METHOD2_(typename, , , m, F)
+#define MOCK_METHOD3_T(m, F) GMOCK_METHOD3_(typename, , , m, F)
+#define MOCK_METHOD4_T(m, F) GMOCK_METHOD4_(typename, , , m, F)
+#define MOCK_METHOD5_T(m, F) GMOCK_METHOD5_(typename, , , m, F)
+#define MOCK_METHOD6_T(m, F) GMOCK_METHOD6_(typename, , , m, F)
+#define MOCK_METHOD7_T(m, F) GMOCK_METHOD7_(typename, , , m, F)
+#define MOCK_METHOD8_T(m, F) GMOCK_METHOD8_(typename, , , m, F)
+#define MOCK_METHOD9_T(m, F) GMOCK_METHOD9_(typename, , , m, F)
+#define MOCK_METHOD10_T(m, F) GMOCK_METHOD10_(typename, , , m, F)
+
+#define MOCK_CONST_METHOD0_T(m, F) GMOCK_METHOD0_(typename, const, , m, F)
+#define MOCK_CONST_METHOD1_T(m, F) GMOCK_METHOD1_(typename, const, , m, F)
+#define MOCK_CONST_METHOD2_T(m, F) GMOCK_METHOD2_(typename, const, , m, F)
+#define MOCK_CONST_METHOD3_T(m, F) GMOCK_METHOD3_(typename, const, , m, F)
+#define MOCK_CONST_METHOD4_T(m, F) GMOCK_METHOD4_(typename, const, , m, F)
+#define MOCK_CONST_METHOD5_T(m, F) GMOCK_METHOD5_(typename, const, , m, F)
+#define MOCK_CONST_METHOD6_T(m, F) GMOCK_METHOD6_(typename, const, , m, F)
+#define MOCK_CONST_METHOD7_T(m, F) GMOCK_METHOD7_(typename, const, , m, F)
+#define MOCK_CONST_METHOD8_T(m, F) GMOCK_METHOD8_(typename, const, , m, F)
+#define MOCK_CONST_METHOD9_T(m, F) GMOCK_METHOD9_(typename, const, , m, F)
+#define MOCK_CONST_METHOD10_T(m, F) GMOCK_METHOD10_(typename, const, , m, F)
+
+#define MOCK_METHOD0_WITH_CALLTYPE(ct, m, F) GMOCK_METHOD0_(, , ct, m, F)
+#define MOCK_METHOD1_WITH_CALLTYPE(ct, m, F) GMOCK_METHOD1_(, , ct, m, F)
+#define MOCK_METHOD2_WITH_CALLTYPE(ct, m, F) GMOCK_METHOD2_(, , ct, m, F)
+#define MOCK_METHOD3_WITH_CALLTYPE(ct, m, F) GMOCK_METHOD3_(, , ct, m, F)
+#define MOCK_METHOD4_WITH_CALLTYPE(ct, m, F) GMOCK_METHOD4_(, , ct, m, F)
+#define MOCK_METHOD5_WITH_CALLTYPE(ct, m, F) GMOCK_METHOD5_(, , ct, m, F)
+#define MOCK_METHOD6_WITH_CALLTYPE(ct, m, F) GMOCK_METHOD6_(, , ct, m, F)
+#define MOCK_METHOD7_WITH_CALLTYPE(ct, m, F) GMOCK_METHOD7_(, , ct, m, F)
+#define MOCK_METHOD8_WITH_CALLTYPE(ct, m, F) GMOCK_METHOD8_(, , ct, m, F)
+#define MOCK_METHOD9_WITH_CALLTYPE(ct, m, F) GMOCK_METHOD9_(, , ct, m, F)
+#define MOCK_METHOD10_WITH_CALLTYPE(ct, m, F) GMOCK_METHOD10_(, , ct, m, F)
+
+#define MOCK_CONST_METHOD0_WITH_CALLTYPE(ct, m, F) \
+ GMOCK_METHOD0_(, const, ct, m, F)
+#define MOCK_CONST_METHOD1_WITH_CALLTYPE(ct, m, F) \
+ GMOCK_METHOD1_(, const, ct, m, F)
+#define MOCK_CONST_METHOD2_WITH_CALLTYPE(ct, m, F) \
+ GMOCK_METHOD2_(, const, ct, m, F)
+#define MOCK_CONST_METHOD3_WITH_CALLTYPE(ct, m, F) \
+ GMOCK_METHOD3_(, const, ct, m, F)
+#define MOCK_CONST_METHOD4_WITH_CALLTYPE(ct, m, F) \
+ GMOCK_METHOD4_(, const, ct, m, F)
+#define MOCK_CONST_METHOD5_WITH_CALLTYPE(ct, m, F) \
+ GMOCK_METHOD5_(, const, ct, m, F)
+#define MOCK_CONST_METHOD6_WITH_CALLTYPE(ct, m, F) \
+ GMOCK_METHOD6_(, const, ct, m, F)
+#define MOCK_CONST_METHOD7_WITH_CALLTYPE(ct, m, F) \
+ GMOCK_METHOD7_(, const, ct, m, F)
+#define MOCK_CONST_METHOD8_WITH_CALLTYPE(ct, m, F) \
+ GMOCK_METHOD8_(, const, ct, m, F)
+#define MOCK_CONST_METHOD9_WITH_CALLTYPE(ct, m, F) \
+ GMOCK_METHOD9_(, const, ct, m, F)
+#define MOCK_CONST_METHOD10_WITH_CALLTYPE(ct, m, F) \
+ GMOCK_METHOD10_(, const, ct, m, F)
+
+#define MOCK_METHOD0_T_WITH_CALLTYPE(ct, m, F) \
+ GMOCK_METHOD0_(typename, , ct, m, F)
+#define MOCK_METHOD1_T_WITH_CALLTYPE(ct, m, F) \
+ GMOCK_METHOD1_(typename, , ct, m, F)
+#define MOCK_METHOD2_T_WITH_CALLTYPE(ct, m, F) \
+ GMOCK_METHOD2_(typename, , ct, m, F)
+#define MOCK_METHOD3_T_WITH_CALLTYPE(ct, m, F) \
+ GMOCK_METHOD3_(typename, , ct, m, F)
+#define MOCK_METHOD4_T_WITH_CALLTYPE(ct, m, F) \
+ GMOCK_METHOD4_(typename, , ct, m, F)
+#define MOCK_METHOD5_T_WITH_CALLTYPE(ct, m, F) \
+ GMOCK_METHOD5_(typename, , ct, m, F)
+#define MOCK_METHOD6_T_WITH_CALLTYPE(ct, m, F) \
+ GMOCK_METHOD6_(typename, , ct, m, F)
+#define MOCK_METHOD7_T_WITH_CALLTYPE(ct, m, F) \
+ GMOCK_METHOD7_(typename, , ct, m, F)
+#define MOCK_METHOD8_T_WITH_CALLTYPE(ct, m, F) \
+ GMOCK_METHOD8_(typename, , ct, m, F)
+#define MOCK_METHOD9_T_WITH_CALLTYPE(ct, m, F) \
+ GMOCK_METHOD9_(typename, , ct, m, F)
+#define MOCK_METHOD10_T_WITH_CALLTYPE(ct, m, F) \
+ GMOCK_METHOD10_(typename, , ct, m, F)
+
+#define MOCK_CONST_METHOD0_T_WITH_CALLTYPE(ct, m, F) \
+ GMOCK_METHOD0_(typename, const, ct, m, F)
+#define MOCK_CONST_METHOD1_T_WITH_CALLTYPE(ct, m, F) \
+ GMOCK_METHOD1_(typename, const, ct, m, F)
+#define MOCK_CONST_METHOD2_T_WITH_CALLTYPE(ct, m, F) \
+ GMOCK_METHOD2_(typename, const, ct, m, F)
+#define MOCK_CONST_METHOD3_T_WITH_CALLTYPE(ct, m, F) \
+ GMOCK_METHOD3_(typename, const, ct, m, F)
+#define MOCK_CONST_METHOD4_T_WITH_CALLTYPE(ct, m, F) \
+ GMOCK_METHOD4_(typename, const, ct, m, F)
+#define MOCK_CONST_METHOD5_T_WITH_CALLTYPE(ct, m, F) \
+ GMOCK_METHOD5_(typename, const, ct, m, F)
+#define MOCK_CONST_METHOD6_T_WITH_CALLTYPE(ct, m, F) \
+ GMOCK_METHOD6_(typename, const, ct, m, F)
+#define MOCK_CONST_METHOD7_T_WITH_CALLTYPE(ct, m, F) \
+ GMOCK_METHOD7_(typename, const, ct, m, F)
+#define MOCK_CONST_METHOD8_T_WITH_CALLTYPE(ct, m, F) \
+ GMOCK_METHOD8_(typename, const, ct, m, F)
+#define MOCK_CONST_METHOD9_T_WITH_CALLTYPE(ct, m, F) \
+ GMOCK_METHOD9_(typename, const, ct, m, F)
+#define MOCK_CONST_METHOD10_T_WITH_CALLTYPE(ct, m, F) \
+ GMOCK_METHOD10_(typename, const, ct, m, F)
+
+// A MockFunction<F> class has one mock method whose type is F. It is
+// useful when you just want your test code to emit some messages and
+// have Google Mock verify the right messages are sent (and perhaps at
+// the right times). For example, if you are exercising code:
+//
+// Foo(1);
+// Foo(2);
+// Foo(3);
+//
+// and want to verify that Foo(1) and Foo(3) both invoke
+// mock.Bar("a"), but Foo(2) doesn't invoke anything, you can write:
+//
+// TEST(FooTest, InvokesBarCorrectly) {
+// MyMock mock;
+// MockFunction<void(string check_point_name)> check;
+// {
+// InSequence s;
+//
+// EXPECT_CALL(mock, Bar("a"));
+// EXPECT_CALL(check, Call("1"));
+// EXPECT_CALL(check, Call("2"));
+// EXPECT_CALL(mock, Bar("a"));
+// }
+// Foo(1);
+// check.Call("1");
+// Foo(2);
+// check.Call("2");
+// Foo(3);
+// }
+//
+// The expectation spec says that the first Bar("a") must happen
+// before check point "1", the second Bar("a") must happen after check
+// point "2", and nothing should happen between the two check
+// points. The explicit check points make it easy to tell which
+// Bar("a") is called by which call to Foo().
+template <typename F>
+class MockFunction;
+
+template <typename R>
+class MockFunction<R()> {
+ public:
+ MockFunction() {}
+
+ MOCK_METHOD0_T(Call, R());
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(MockFunction);
+};
+
+template <typename R, typename A0>
+class MockFunction<R(A0)> {
+ public:
+ MockFunction() {}
+
+ MOCK_METHOD1_T(Call, R(A0));
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(MockFunction);
+};
+
+template <typename R, typename A0, typename A1>
+class MockFunction<R(A0, A1)> {
+ public:
+ MockFunction() {}
+
+ MOCK_METHOD2_T(Call, R(A0, A1));
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(MockFunction);
+};
+
+template <typename R, typename A0, typename A1, typename A2>
+class MockFunction<R(A0, A1, A2)> {
+ public:
+ MockFunction() {}
+
+ MOCK_METHOD3_T(Call, R(A0, A1, A2));
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(MockFunction);
+};
+
+template <typename R, typename A0, typename A1, typename A2, typename A3>
+class MockFunction<R(A0, A1, A2, A3)> {
+ public:
+ MockFunction() {}
+
+ MOCK_METHOD4_T(Call, R(A0, A1, A2, A3));
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(MockFunction);
+};
+
+template <typename R, typename A0, typename A1, typename A2, typename A3,
+ typename A4>
+class MockFunction<R(A0, A1, A2, A3, A4)> {
+ public:
+ MockFunction() {}
+
+ MOCK_METHOD5_T(Call, R(A0, A1, A2, A3, A4));
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(MockFunction);
+};
+
+template <typename R, typename A0, typename A1, typename A2, typename A3,
+ typename A4, typename A5>
+class MockFunction<R(A0, A1, A2, A3, A4, A5)> {
+ public:
+ MockFunction() {}
+
+ MOCK_METHOD6_T(Call, R(A0, A1, A2, A3, A4, A5));
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(MockFunction);
+};
+
+template <typename R, typename A0, typename A1, typename A2, typename A3,
+ typename A4, typename A5, typename A6>
+class MockFunction<R(A0, A1, A2, A3, A4, A5, A6)> {
+ public:
+ MockFunction() {}
+
+ MOCK_METHOD7_T(Call, R(A0, A1, A2, A3, A4, A5, A6));
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(MockFunction);
+};
+
+template <typename R, typename A0, typename A1, typename A2, typename A3,
+ typename A4, typename A5, typename A6, typename A7>
+class MockFunction<R(A0, A1, A2, A3, A4, A5, A6, A7)> {
+ public:
+ MockFunction() {}
+
+ MOCK_METHOD8_T(Call, R(A0, A1, A2, A3, A4, A5, A6, A7));
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(MockFunction);
+};
+
+template <typename R, typename A0, typename A1, typename A2, typename A3,
+ typename A4, typename A5, typename A6, typename A7, typename A8>
+class MockFunction<R(A0, A1, A2, A3, A4, A5, A6, A7, A8)> {
+ public:
+ MockFunction() {}
+
+ MOCK_METHOD9_T(Call, R(A0, A1, A2, A3, A4, A5, A6, A7, A8));
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(MockFunction);
+};
+
+template <typename R, typename A0, typename A1, typename A2, typename A3,
+ typename A4, typename A5, typename A6, typename A7, typename A8,
+ typename A9>
+class MockFunction<R(A0, A1, A2, A3, A4, A5, A6, A7, A8, A9)> {
+ public:
+ MockFunction() {}
+
+ MOCK_METHOD10_T(Call, R(A0, A1, A2, A3, A4, A5, A6, A7, A8, A9));
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(MockFunction);
+};
+
+} // namespace testing
+
+#endif // GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_FUNCTION_MOCKERS_H_
+// This file was GENERATED by command:
+// pump.py gmock-generated-matchers.h.pump
+// DO NOT EDIT BY HAND!!!
+
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements some commonly used variadic matchers.
+
+#ifndef GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_MATCHERS_H_
+#define GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_MATCHERS_H_
+
+#include <sstream>
+#include <string>
+#include <vector>
+
+namespace testing {
+namespace internal {
+
+// The type of the i-th (0-based) field of Tuple.
+#define GMOCK_FIELD_TYPE_(Tuple, i) \
+ typename ::std::tr1::tuple_element<i, Tuple>::type
+
+// TupleFields<Tuple, k0, ..., kn> is for selecting fields from a
+// tuple of type Tuple. It has two members:
+//
+// type: a tuple type whose i-th field is the ki-th field of Tuple.
+// GetSelectedFields(t): returns fields k0, ..., and kn of t as a tuple.
+//
+// For example, in class TupleFields<tuple<bool, char, int>, 2, 0>, we have:
+//
+// type is tuple<int, bool>, and
+// GetSelectedFields(make_tuple(true, 'a', 42)) is (42, true).
+
+template <class Tuple, int k0 = -1, int k1 = -1, int k2 = -1, int k3 = -1,
+ int k4 = -1, int k5 = -1, int k6 = -1, int k7 = -1, int k8 = -1,
+ int k9 = -1>
+class TupleFields;
+
+// This generic version is used when there are 10 selectors.
+template <class Tuple, int k0, int k1, int k2, int k3, int k4, int k5, int k6,
+ int k7, int k8, int k9>
+class TupleFields {
+ public:
+ typedef ::std::tr1::tuple<GMOCK_FIELD_TYPE_(Tuple, k0),
+ GMOCK_FIELD_TYPE_(Tuple, k1), GMOCK_FIELD_TYPE_(Tuple, k2),
+ GMOCK_FIELD_TYPE_(Tuple, k3), GMOCK_FIELD_TYPE_(Tuple, k4),
+ GMOCK_FIELD_TYPE_(Tuple, k5), GMOCK_FIELD_TYPE_(Tuple, k6),
+ GMOCK_FIELD_TYPE_(Tuple, k7), GMOCK_FIELD_TYPE_(Tuple, k8),
+ GMOCK_FIELD_TYPE_(Tuple, k9)> type;
+ static type GetSelectedFields(const Tuple& t) {
+ using ::std::tr1::get;
+ return type(get<k0>(t), get<k1>(t), get<k2>(t), get<k3>(t), get<k4>(t),
+ get<k5>(t), get<k6>(t), get<k7>(t), get<k8>(t), get<k9>(t));
+ }
+};
+
+// The following specialization is used for 0 ~ 9 selectors.
+
+template <class Tuple>
+class TupleFields<Tuple, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1> {
+ public:
+ typedef ::std::tr1::tuple<> type;
+ static type GetSelectedFields(const Tuple& /* t */) {
+ using ::std::tr1::get;
+ return type();
+ }
+};
+
+template <class Tuple, int k0>
+class TupleFields<Tuple, k0, -1, -1, -1, -1, -1, -1, -1, -1, -1> {
+ public:
+ typedef ::std::tr1::tuple<GMOCK_FIELD_TYPE_(Tuple, k0)> type;
+ static type GetSelectedFields(const Tuple& t) {
+ using ::std::tr1::get;
+ return type(get<k0>(t));
+ }
+};
+
+template <class Tuple, int k0, int k1>
+class TupleFields<Tuple, k0, k1, -1, -1, -1, -1, -1, -1, -1, -1> {
+ public:
+ typedef ::std::tr1::tuple<GMOCK_FIELD_TYPE_(Tuple, k0),
+ GMOCK_FIELD_TYPE_(Tuple, k1)> type;
+ static type GetSelectedFields(const Tuple& t) {
+ using ::std::tr1::get;
+ return type(get<k0>(t), get<k1>(t));
+ }
+};
+
+template <class Tuple, int k0, int k1, int k2>
+class TupleFields<Tuple, k0, k1, k2, -1, -1, -1, -1, -1, -1, -1> {
+ public:
+ typedef ::std::tr1::tuple<GMOCK_FIELD_TYPE_(Tuple, k0),
+ GMOCK_FIELD_TYPE_(Tuple, k1), GMOCK_FIELD_TYPE_(Tuple, k2)> type;
+ static type GetSelectedFields(const Tuple& t) {
+ using ::std::tr1::get;
+ return type(get<k0>(t), get<k1>(t), get<k2>(t));
+ }
+};
+
+template <class Tuple, int k0, int k1, int k2, int k3>
+class TupleFields<Tuple, k0, k1, k2, k3, -1, -1, -1, -1, -1, -1> {
+ public:
+ typedef ::std::tr1::tuple<GMOCK_FIELD_TYPE_(Tuple, k0),
+ GMOCK_FIELD_TYPE_(Tuple, k1), GMOCK_FIELD_TYPE_(Tuple, k2),
+ GMOCK_FIELD_TYPE_(Tuple, k3)> type;
+ static type GetSelectedFields(const Tuple& t) {
+ using ::std::tr1::get;
+ return type(get<k0>(t), get<k1>(t), get<k2>(t), get<k3>(t));
+ }
+};
+
+template <class Tuple, int k0, int k1, int k2, int k3, int k4>
+class TupleFields<Tuple, k0, k1, k2, k3, k4, -1, -1, -1, -1, -1> {
+ public:
+ typedef ::std::tr1::tuple<GMOCK_FIELD_TYPE_(Tuple, k0),
+ GMOCK_FIELD_TYPE_(Tuple, k1), GMOCK_FIELD_TYPE_(Tuple, k2),
+ GMOCK_FIELD_TYPE_(Tuple, k3), GMOCK_FIELD_TYPE_(Tuple, k4)> type;
+ static type GetSelectedFields(const Tuple& t) {
+ using ::std::tr1::get;
+ return type(get<k0>(t), get<k1>(t), get<k2>(t), get<k3>(t), get<k4>(t));
+ }
+};
+
+template <class Tuple, int k0, int k1, int k2, int k3, int k4, int k5>
+class TupleFields<Tuple, k0, k1, k2, k3, k4, k5, -1, -1, -1, -1> {
+ public:
+ typedef ::std::tr1::tuple<GMOCK_FIELD_TYPE_(Tuple, k0),
+ GMOCK_FIELD_TYPE_(Tuple, k1), GMOCK_FIELD_TYPE_(Tuple, k2),
+ GMOCK_FIELD_TYPE_(Tuple, k3), GMOCK_FIELD_TYPE_(Tuple, k4),
+ GMOCK_FIELD_TYPE_(Tuple, k5)> type;
+ static type GetSelectedFields(const Tuple& t) {
+ using ::std::tr1::get;
+ return type(get<k0>(t), get<k1>(t), get<k2>(t), get<k3>(t), get<k4>(t),
+ get<k5>(t));
+ }
+};
+
+template <class Tuple, int k0, int k1, int k2, int k3, int k4, int k5, int k6>
+class TupleFields<Tuple, k0, k1, k2, k3, k4, k5, k6, -1, -1, -1> {
+ public:
+ typedef ::std::tr1::tuple<GMOCK_FIELD_TYPE_(Tuple, k0),
+ GMOCK_FIELD_TYPE_(Tuple, k1), GMOCK_FIELD_TYPE_(Tuple, k2),
+ GMOCK_FIELD_TYPE_(Tuple, k3), GMOCK_FIELD_TYPE_(Tuple, k4),
+ GMOCK_FIELD_TYPE_(Tuple, k5), GMOCK_FIELD_TYPE_(Tuple, k6)> type;
+ static type GetSelectedFields(const Tuple& t) {
+ using ::std::tr1::get;
+ return type(get<k0>(t), get<k1>(t), get<k2>(t), get<k3>(t), get<k4>(t),
+ get<k5>(t), get<k6>(t));
+ }
+};
+
+template <class Tuple, int k0, int k1, int k2, int k3, int k4, int k5, int k6,
+ int k7>
+class TupleFields<Tuple, k0, k1, k2, k3, k4, k5, k6, k7, -1, -1> {
+ public:
+ typedef ::std::tr1::tuple<GMOCK_FIELD_TYPE_(Tuple, k0),
+ GMOCK_FIELD_TYPE_(Tuple, k1), GMOCK_FIELD_TYPE_(Tuple, k2),
+ GMOCK_FIELD_TYPE_(Tuple, k3), GMOCK_FIELD_TYPE_(Tuple, k4),
+ GMOCK_FIELD_TYPE_(Tuple, k5), GMOCK_FIELD_TYPE_(Tuple, k6),
+ GMOCK_FIELD_TYPE_(Tuple, k7)> type;
+ static type GetSelectedFields(const Tuple& t) {
+ using ::std::tr1::get;
+ return type(get<k0>(t), get<k1>(t), get<k2>(t), get<k3>(t), get<k4>(t),
+ get<k5>(t), get<k6>(t), get<k7>(t));
+ }
+};
+
+template <class Tuple, int k0, int k1, int k2, int k3, int k4, int k5, int k6,
+ int k7, int k8>
+class TupleFields<Tuple, k0, k1, k2, k3, k4, k5, k6, k7, k8, -1> {
+ public:
+ typedef ::std::tr1::tuple<GMOCK_FIELD_TYPE_(Tuple, k0),
+ GMOCK_FIELD_TYPE_(Tuple, k1), GMOCK_FIELD_TYPE_(Tuple, k2),
+ GMOCK_FIELD_TYPE_(Tuple, k3), GMOCK_FIELD_TYPE_(Tuple, k4),
+ GMOCK_FIELD_TYPE_(Tuple, k5), GMOCK_FIELD_TYPE_(Tuple, k6),
+ GMOCK_FIELD_TYPE_(Tuple, k7), GMOCK_FIELD_TYPE_(Tuple, k8)> type;
+ static type GetSelectedFields(const Tuple& t) {
+ using ::std::tr1::get;
+ return type(get<k0>(t), get<k1>(t), get<k2>(t), get<k3>(t), get<k4>(t),
+ get<k5>(t), get<k6>(t), get<k7>(t), get<k8>(t));
+ }
+};
+
+#undef GMOCK_FIELD_TYPE_
+
+// Implements the Args() matcher.
+template <class ArgsTuple, int k0 = -1, int k1 = -1, int k2 = -1, int k3 = -1,
+ int k4 = -1, int k5 = -1, int k6 = -1, int k7 = -1, int k8 = -1,
+ int k9 = -1>
+class ArgsMatcherImpl : public MatcherInterface<ArgsTuple> {
+ public:
+ // ArgsTuple may have top-level const or reference modifiers.
+ typedef GTEST_REMOVE_REFERENCE_AND_CONST_(ArgsTuple) RawArgsTuple;
+ typedef typename internal::TupleFields<RawArgsTuple, k0, k1, k2, k3, k4, k5,
+ k6, k7, k8, k9>::type SelectedArgs;
+ typedef Matcher<const SelectedArgs&> MonomorphicInnerMatcher;
+
+ template <typename InnerMatcher>
+ explicit ArgsMatcherImpl(const InnerMatcher& inner_matcher)
+ : inner_matcher_(SafeMatcherCast<const SelectedArgs&>(inner_matcher)) {}
+
+ virtual bool MatchAndExplain(ArgsTuple args,
+ MatchResultListener* listener) const {
+ const SelectedArgs& selected_args = GetSelectedArgs(args);
+ if (!listener->IsInterested())
+ return inner_matcher_.Matches(selected_args);
+
+ PrintIndices(listener->stream());
+ *listener << "are " << PrintToString(selected_args);
+
+ StringMatchResultListener inner_listener;
+ const bool match = inner_matcher_.MatchAndExplain(selected_args,
+ &inner_listener);
+ PrintIfNotEmpty(inner_listener.str(), listener->stream());
+ return match;
+ }
+
+ virtual void DescribeTo(::std::ostream* os) const {
+ *os << "are a tuple ";
+ PrintIndices(os);
+ inner_matcher_.DescribeTo(os);
+ }
+
+ virtual void DescribeNegationTo(::std::ostream* os) const {
+ *os << "are a tuple ";
+ PrintIndices(os);
+ inner_matcher_.DescribeNegationTo(os);
+ }
+
+ private:
+ static SelectedArgs GetSelectedArgs(ArgsTuple args) {
+ return TupleFields<RawArgsTuple, k0, k1, k2, k3, k4, k5, k6, k7, k8,
+ k9>::GetSelectedFields(args);
+ }
+
+ // Prints the indices of the selected fields.
+ static void PrintIndices(::std::ostream* os) {
+ *os << "whose fields (";
+ const int indices[10] = { k0, k1, k2, k3, k4, k5, k6, k7, k8, k9 };
+ for (int i = 0; i < 10; i++) {
+ if (indices[i] < 0)
+ break;
+
+ if (i >= 1)
+ *os << ", ";
+
+ *os << "#" << indices[i];
+ }
+ *os << ") ";
+ }
+
+ const MonomorphicInnerMatcher inner_matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(ArgsMatcherImpl);
+};
+
+template <class InnerMatcher, int k0 = -1, int k1 = -1, int k2 = -1,
+ int k3 = -1, int k4 = -1, int k5 = -1, int k6 = -1, int k7 = -1,
+ int k8 = -1, int k9 = -1>
+class ArgsMatcher {
+ public:
+ explicit ArgsMatcher(const InnerMatcher& inner_matcher)
+ : inner_matcher_(inner_matcher) {}
+
+ template <typename ArgsTuple>
+ operator Matcher<ArgsTuple>() const {
+ return MakeMatcher(new ArgsMatcherImpl<ArgsTuple, k0, k1, k2, k3, k4, k5,
+ k6, k7, k8, k9>(inner_matcher_));
+ }
+
+ private:
+ const InnerMatcher inner_matcher_;
+
+ GTEST_DISALLOW_ASSIGN_(ArgsMatcher);
+};
+
+// Implements ElementsAre() of 1-10 arguments.
+
+template <typename T1>
+class ElementsAreMatcher1 {
+ public:
+ explicit ElementsAreMatcher1(const T1& e1) : e1_(e1) {}
+
+ template <typename Container>
+ operator Matcher<Container>() const {
+ typedef GTEST_REMOVE_REFERENCE_AND_CONST_(Container) RawContainer;
+ typedef typename internal::StlContainerView<RawContainer>::type::value_type
+ Element;
+
+ // Nokia's Symbian Compiler has a nasty bug where the object put
+ // in a one-element local array is not destructed when the array
+ // goes out of scope. This leads to obvious badness as we've
+ // added the linked_ptr in it to our other linked_ptrs list.
+ // Hence we implement ElementsAreMatcher1 specially to avoid using
+ // a local array.
+ const Matcher<const Element&> matcher =
+ MatcherCast<const Element&>(e1_);
+ return MakeMatcher(new ElementsAreMatcherImpl<Container>(&matcher, 1));
+ }
+
+ private:
+ const T1& e1_;
+
+ GTEST_DISALLOW_ASSIGN_(ElementsAreMatcher1);
+};
+
+template <typename T1, typename T2>
+class ElementsAreMatcher2 {
+ public:
+ ElementsAreMatcher2(const T1& e1, const T2& e2) : e1_(e1), e2_(e2) {}
+
+ template <typename Container>
+ operator Matcher<Container>() const {
+ typedef GTEST_REMOVE_REFERENCE_AND_CONST_(Container) RawContainer;
+ typedef typename internal::StlContainerView<RawContainer>::type::value_type
+ Element;
+
+ const Matcher<const Element&> matchers[] = {
+ MatcherCast<const Element&>(e1_),
+ MatcherCast<const Element&>(e2_),
+ };
+
+ return MakeMatcher(new ElementsAreMatcherImpl<Container>(matchers, 2));
+ }
+
+ private:
+ const T1& e1_;
+ const T2& e2_;
+
+ GTEST_DISALLOW_ASSIGN_(ElementsAreMatcher2);
+};
+
+template <typename T1, typename T2, typename T3>
+class ElementsAreMatcher3 {
+ public:
+ ElementsAreMatcher3(const T1& e1, const T2& e2, const T3& e3) : e1_(e1),
+ e2_(e2), e3_(e3) {}
+
+ template <typename Container>
+ operator Matcher<Container>() const {
+ typedef GTEST_REMOVE_REFERENCE_AND_CONST_(Container) RawContainer;
+ typedef typename internal::StlContainerView<RawContainer>::type::value_type
+ Element;
+
+ const Matcher<const Element&> matchers[] = {
+ MatcherCast<const Element&>(e1_),
+ MatcherCast<const Element&>(e2_),
+ MatcherCast<const Element&>(e3_),
+ };
+
+ return MakeMatcher(new ElementsAreMatcherImpl<Container>(matchers, 3));
+ }
+
+ private:
+ const T1& e1_;
+ const T2& e2_;
+ const T3& e3_;
+
+ GTEST_DISALLOW_ASSIGN_(ElementsAreMatcher3);
+};
+
+template <typename T1, typename T2, typename T3, typename T4>
+class ElementsAreMatcher4 {
+ public:
+ ElementsAreMatcher4(const T1& e1, const T2& e2, const T3& e3,
+ const T4& e4) : e1_(e1), e2_(e2), e3_(e3), e4_(e4) {}
+
+ template <typename Container>
+ operator Matcher<Container>() const {
+ typedef GTEST_REMOVE_REFERENCE_AND_CONST_(Container) RawContainer;
+ typedef typename internal::StlContainerView<RawContainer>::type::value_type
+ Element;
+
+ const Matcher<const Element&> matchers[] = {
+ MatcherCast<const Element&>(e1_),
+ MatcherCast<const Element&>(e2_),
+ MatcherCast<const Element&>(e3_),
+ MatcherCast<const Element&>(e4_),
+ };
+
+ return MakeMatcher(new ElementsAreMatcherImpl<Container>(matchers, 4));
+ }
+
+ private:
+ const T1& e1_;
+ const T2& e2_;
+ const T3& e3_;
+ const T4& e4_;
+
+ GTEST_DISALLOW_ASSIGN_(ElementsAreMatcher4);
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5>
+class ElementsAreMatcher5 {
+ public:
+ ElementsAreMatcher5(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+ const T5& e5) : e1_(e1), e2_(e2), e3_(e3), e4_(e4), e5_(e5) {}
+
+ template <typename Container>
+ operator Matcher<Container>() const {
+ typedef GTEST_REMOVE_REFERENCE_AND_CONST_(Container) RawContainer;
+ typedef typename internal::StlContainerView<RawContainer>::type::value_type
+ Element;
+
+ const Matcher<const Element&> matchers[] = {
+ MatcherCast<const Element&>(e1_),
+ MatcherCast<const Element&>(e2_),
+ MatcherCast<const Element&>(e3_),
+ MatcherCast<const Element&>(e4_),
+ MatcherCast<const Element&>(e5_),
+ };
+
+ return MakeMatcher(new ElementsAreMatcherImpl<Container>(matchers, 5));
+ }
+
+ private:
+ const T1& e1_;
+ const T2& e2_;
+ const T3& e3_;
+ const T4& e4_;
+ const T5& e5_;
+
+ GTEST_DISALLOW_ASSIGN_(ElementsAreMatcher5);
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6>
+class ElementsAreMatcher6 {
+ public:
+ ElementsAreMatcher6(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+ const T5& e5, const T6& e6) : e1_(e1), e2_(e2), e3_(e3), e4_(e4),
+ e5_(e5), e6_(e6) {}
+
+ template <typename Container>
+ operator Matcher<Container>() const {
+ typedef GTEST_REMOVE_REFERENCE_AND_CONST_(Container) RawContainer;
+ typedef typename internal::StlContainerView<RawContainer>::type::value_type
+ Element;
+
+ const Matcher<const Element&> matchers[] = {
+ MatcherCast<const Element&>(e1_),
+ MatcherCast<const Element&>(e2_),
+ MatcherCast<const Element&>(e3_),
+ MatcherCast<const Element&>(e4_),
+ MatcherCast<const Element&>(e5_),
+ MatcherCast<const Element&>(e6_),
+ };
+
+ return MakeMatcher(new ElementsAreMatcherImpl<Container>(matchers, 6));
+ }
+
+ private:
+ const T1& e1_;
+ const T2& e2_;
+ const T3& e3_;
+ const T4& e4_;
+ const T5& e5_;
+ const T6& e6_;
+
+ GTEST_DISALLOW_ASSIGN_(ElementsAreMatcher6);
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7>
+class ElementsAreMatcher7 {
+ public:
+ ElementsAreMatcher7(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+ const T5& e5, const T6& e6, const T7& e7) : e1_(e1), e2_(e2), e3_(e3),
+ e4_(e4), e5_(e5), e6_(e6), e7_(e7) {}
+
+ template <typename Container>
+ operator Matcher<Container>() const {
+ typedef GTEST_REMOVE_REFERENCE_AND_CONST_(Container) RawContainer;
+ typedef typename internal::StlContainerView<RawContainer>::type::value_type
+ Element;
+
+ const Matcher<const Element&> matchers[] = {
+ MatcherCast<const Element&>(e1_),
+ MatcherCast<const Element&>(e2_),
+ MatcherCast<const Element&>(e3_),
+ MatcherCast<const Element&>(e4_),
+ MatcherCast<const Element&>(e5_),
+ MatcherCast<const Element&>(e6_),
+ MatcherCast<const Element&>(e7_),
+ };
+
+ return MakeMatcher(new ElementsAreMatcherImpl<Container>(matchers, 7));
+ }
+
+ private:
+ const T1& e1_;
+ const T2& e2_;
+ const T3& e3_;
+ const T4& e4_;
+ const T5& e5_;
+ const T6& e6_;
+ const T7& e7_;
+
+ GTEST_DISALLOW_ASSIGN_(ElementsAreMatcher7);
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8>
+class ElementsAreMatcher8 {
+ public:
+ ElementsAreMatcher8(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+ const T5& e5, const T6& e6, const T7& e7, const T8& e8) : e1_(e1),
+ e2_(e2), e3_(e3), e4_(e4), e5_(e5), e6_(e6), e7_(e7), e8_(e8) {}
+
+ template <typename Container>
+ operator Matcher<Container>() const {
+ typedef GTEST_REMOVE_REFERENCE_AND_CONST_(Container) RawContainer;
+ typedef typename internal::StlContainerView<RawContainer>::type::value_type
+ Element;
+
+ const Matcher<const Element&> matchers[] = {
+ MatcherCast<const Element&>(e1_),
+ MatcherCast<const Element&>(e2_),
+ MatcherCast<const Element&>(e3_),
+ MatcherCast<const Element&>(e4_),
+ MatcherCast<const Element&>(e5_),
+ MatcherCast<const Element&>(e6_),
+ MatcherCast<const Element&>(e7_),
+ MatcherCast<const Element&>(e8_),
+ };
+
+ return MakeMatcher(new ElementsAreMatcherImpl<Container>(matchers, 8));
+ }
+
+ private:
+ const T1& e1_;
+ const T2& e2_;
+ const T3& e3_;
+ const T4& e4_;
+ const T5& e5_;
+ const T6& e6_;
+ const T7& e7_;
+ const T8& e8_;
+
+ GTEST_DISALLOW_ASSIGN_(ElementsAreMatcher8);
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9>
+class ElementsAreMatcher9 {
+ public:
+ ElementsAreMatcher9(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+ const T5& e5, const T6& e6, const T7& e7, const T8& e8,
+ const T9& e9) : e1_(e1), e2_(e2), e3_(e3), e4_(e4), e5_(e5), e6_(e6),
+ e7_(e7), e8_(e8), e9_(e9) {}
+
+ template <typename Container>
+ operator Matcher<Container>() const {
+ typedef GTEST_REMOVE_REFERENCE_AND_CONST_(Container) RawContainer;
+ typedef typename internal::StlContainerView<RawContainer>::type::value_type
+ Element;
+
+ const Matcher<const Element&> matchers[] = {
+ MatcherCast<const Element&>(e1_),
+ MatcherCast<const Element&>(e2_),
+ MatcherCast<const Element&>(e3_),
+ MatcherCast<const Element&>(e4_),
+ MatcherCast<const Element&>(e5_),
+ MatcherCast<const Element&>(e6_),
+ MatcherCast<const Element&>(e7_),
+ MatcherCast<const Element&>(e8_),
+ MatcherCast<const Element&>(e9_),
+ };
+
+ return MakeMatcher(new ElementsAreMatcherImpl<Container>(matchers, 9));
+ }
+
+ private:
+ const T1& e1_;
+ const T2& e2_;
+ const T3& e3_;
+ const T4& e4_;
+ const T5& e5_;
+ const T6& e6_;
+ const T7& e7_;
+ const T8& e8_;
+ const T9& e9_;
+
+ GTEST_DISALLOW_ASSIGN_(ElementsAreMatcher9);
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10>
+class ElementsAreMatcher10 {
+ public:
+ ElementsAreMatcher10(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+ const T5& e5, const T6& e6, const T7& e7, const T8& e8, const T9& e9,
+ const T10& e10) : e1_(e1), e2_(e2), e3_(e3), e4_(e4), e5_(e5), e6_(e6),
+ e7_(e7), e8_(e8), e9_(e9), e10_(e10) {}
+
+ template <typename Container>
+ operator Matcher<Container>() const {
+ typedef GTEST_REMOVE_REFERENCE_AND_CONST_(Container) RawContainer;
+ typedef typename internal::StlContainerView<RawContainer>::type::value_type
+ Element;
+
+ const Matcher<const Element&> matchers[] = {
+ MatcherCast<const Element&>(e1_),
+ MatcherCast<const Element&>(e2_),
+ MatcherCast<const Element&>(e3_),
+ MatcherCast<const Element&>(e4_),
+ MatcherCast<const Element&>(e5_),
+ MatcherCast<const Element&>(e6_),
+ MatcherCast<const Element&>(e7_),
+ MatcherCast<const Element&>(e8_),
+ MatcherCast<const Element&>(e9_),
+ MatcherCast<const Element&>(e10_),
+ };
+
+ return MakeMatcher(new ElementsAreMatcherImpl<Container>(matchers, 10));
+ }
+
+ private:
+ const T1& e1_;
+ const T2& e2_;
+ const T3& e3_;
+ const T4& e4_;
+ const T5& e5_;
+ const T6& e6_;
+ const T7& e7_;
+ const T8& e8_;
+ const T9& e9_;
+ const T10& e10_;
+
+ GTEST_DISALLOW_ASSIGN_(ElementsAreMatcher10);
+};
+
+} // namespace internal
+
+// Args<N1, N2, ..., Nk>(a_matcher) matches a tuple if the selected
+// fields of it matches a_matcher. C++ doesn't support default
+// arguments for function templates, so we have to overload it.
+template <typename InnerMatcher>
+inline internal::ArgsMatcher<InnerMatcher>
+Args(const InnerMatcher& matcher) {
+ return internal::ArgsMatcher<InnerMatcher>(matcher);
+}
+
+template <int k1, typename InnerMatcher>
+inline internal::ArgsMatcher<InnerMatcher, k1>
+Args(const InnerMatcher& matcher) {
+ return internal::ArgsMatcher<InnerMatcher, k1>(matcher);
+}
+
+template <int k1, int k2, typename InnerMatcher>
+inline internal::ArgsMatcher<InnerMatcher, k1, k2>
+Args(const InnerMatcher& matcher) {
+ return internal::ArgsMatcher<InnerMatcher, k1, k2>(matcher);
+}
+
+template <int k1, int k2, int k3, typename InnerMatcher>
+inline internal::ArgsMatcher<InnerMatcher, k1, k2, k3>
+Args(const InnerMatcher& matcher) {
+ return internal::ArgsMatcher<InnerMatcher, k1, k2, k3>(matcher);
+}
+
+template <int k1, int k2, int k3, int k4, typename InnerMatcher>
+inline internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4>
+Args(const InnerMatcher& matcher) {
+ return internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4>(matcher);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, typename InnerMatcher>
+inline internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5>
+Args(const InnerMatcher& matcher) {
+ return internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5>(matcher);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, int k6, typename InnerMatcher>
+inline internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5, k6>
+Args(const InnerMatcher& matcher) {
+ return internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5, k6>(matcher);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, int k6, int k7,
+ typename InnerMatcher>
+inline internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5, k6, k7>
+Args(const InnerMatcher& matcher) {
+ return internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5, k6,
+ k7>(matcher);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, int k6, int k7, int k8,
+ typename InnerMatcher>
+inline internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5, k6, k7, k8>
+Args(const InnerMatcher& matcher) {
+ return internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5, k6, k7,
+ k8>(matcher);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, int k6, int k7, int k8,
+ int k9, typename InnerMatcher>
+inline internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5, k6, k7, k8, k9>
+Args(const InnerMatcher& matcher) {
+ return internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5, k6, k7, k8,
+ k9>(matcher);
+}
+
+template <int k1, int k2, int k3, int k4, int k5, int k6, int k7, int k8,
+ int k9, int k10, typename InnerMatcher>
+inline internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5, k6, k7, k8, k9,
+ k10>
+Args(const InnerMatcher& matcher) {
+ return internal::ArgsMatcher<InnerMatcher, k1, k2, k3, k4, k5, k6, k7, k8,
+ k9, k10>(matcher);
+}
+
+// ElementsAre(e0, e1, ..., e_n) matches an STL-style container with
+// (n + 1) elements, where the i-th element in the container must
+// match the i-th argument in the list. Each argument of
+// ElementsAre() can be either a value or a matcher. We support up to
+// 10 arguments.
+//
+// NOTE: Since ElementsAre() cares about the order of the elements, it
+// must not be used with containers whose elements's order is
+// undefined (e.g. hash_map).
+
+inline internal::ElementsAreMatcher0 ElementsAre() {
+ return internal::ElementsAreMatcher0();
+}
+
+template <typename T1>
+inline internal::ElementsAreMatcher1<T1> ElementsAre(const T1& e1) {
+ return internal::ElementsAreMatcher1<T1>(e1);
+}
+
+template <typename T1, typename T2>
+inline internal::ElementsAreMatcher2<T1, T2> ElementsAre(const T1& e1,
+ const T2& e2) {
+ return internal::ElementsAreMatcher2<T1, T2>(e1, e2);
+}
+
+template <typename T1, typename T2, typename T3>
+inline internal::ElementsAreMatcher3<T1, T2, T3> ElementsAre(const T1& e1,
+ const T2& e2, const T3& e3) {
+ return internal::ElementsAreMatcher3<T1, T2, T3>(e1, e2, e3);
+}
+
+template <typename T1, typename T2, typename T3, typename T4>
+inline internal::ElementsAreMatcher4<T1, T2, T3, T4> ElementsAre(const T1& e1,
+ const T2& e2, const T3& e3, const T4& e4) {
+ return internal::ElementsAreMatcher4<T1, T2, T3, T4>(e1, e2, e3, e4);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5>
+inline internal::ElementsAreMatcher5<T1, T2, T3, T4,
+ T5> ElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+ const T5& e5) {
+ return internal::ElementsAreMatcher5<T1, T2, T3, T4, T5>(e1, e2, e3, e4, e5);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6>
+inline internal::ElementsAreMatcher6<T1, T2, T3, T4, T5,
+ T6> ElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+ const T5& e5, const T6& e6) {
+ return internal::ElementsAreMatcher6<T1, T2, T3, T4, T5, T6>(e1, e2, e3, e4,
+ e5, e6);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7>
+inline internal::ElementsAreMatcher7<T1, T2, T3, T4, T5, T6,
+ T7> ElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+ const T5& e5, const T6& e6, const T7& e7) {
+ return internal::ElementsAreMatcher7<T1, T2, T3, T4, T5, T6, T7>(e1, e2, e3,
+ e4, e5, e6, e7);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8>
+inline internal::ElementsAreMatcher8<T1, T2, T3, T4, T5, T6, T7,
+ T8> ElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+ const T5& e5, const T6& e6, const T7& e7, const T8& e8) {
+ return internal::ElementsAreMatcher8<T1, T2, T3, T4, T5, T6, T7, T8>(e1, e2,
+ e3, e4, e5, e6, e7, e8);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9>
+inline internal::ElementsAreMatcher9<T1, T2, T3, T4, T5, T6, T7, T8,
+ T9> ElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+ const T5& e5, const T6& e6, const T7& e7, const T8& e8, const T9& e9) {
+ return internal::ElementsAreMatcher9<T1, T2, T3, T4, T5, T6, T7, T8, T9>(e1,
+ e2, e3, e4, e5, e6, e7, e8, e9);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10>
+inline internal::ElementsAreMatcher10<T1, T2, T3, T4, T5, T6, T7, T8, T9,
+ T10> ElementsAre(const T1& e1, const T2& e2, const T3& e3, const T4& e4,
+ const T5& e5, const T6& e6, const T7& e7, const T8& e8, const T9& e9,
+ const T10& e10) {
+ return internal::ElementsAreMatcher10<T1, T2, T3, T4, T5, T6, T7, T8, T9,
+ T10>(e1, e2, e3, e4, e5, e6, e7, e8, e9, e10);
+}
+
+// ElementsAreArray(array) and ElementAreArray(array, count) are like
+// ElementsAre(), except that they take an array of values or
+// matchers. The former form infers the size of 'array', which must
+// be a static C-style array. In the latter form, 'array' can either
+// be a static array or a pointer to a dynamically created array.
+
+template <typename T>
+inline internal::ElementsAreArrayMatcher<T> ElementsAreArray(
+ const T* first, size_t count) {
+ return internal::ElementsAreArrayMatcher<T>(first, count);
+}
+
+template <typename T, size_t N>
+inline internal::ElementsAreArrayMatcher<T>
+ElementsAreArray(const T (&array)[N]) {
+ return internal::ElementsAreArrayMatcher<T>(array, N);
+}
+
+// AllOf(m1, m2, ..., mk) matches any value that matches all of the given
+// sub-matchers. AllOf is called fully qualified to prevent ADL from firing.
+
+template <typename Matcher1, typename Matcher2>
+inline internal::BothOfMatcher<Matcher1, Matcher2>
+AllOf(Matcher1 m1, Matcher2 m2) {
+ return internal::BothOfMatcher<Matcher1, Matcher2>(m1, m2);
+}
+
+template <typename Matcher1, typename Matcher2, typename Matcher3>
+inline internal::BothOfMatcher<Matcher1, internal::BothOfMatcher<Matcher2,
+ Matcher3> >
+AllOf(Matcher1 m1, Matcher2 m2, Matcher3 m3) {
+ return ::testing::AllOf(m1, ::testing::AllOf(m2, m3));
+}
+
+template <typename Matcher1, typename Matcher2, typename Matcher3,
+ typename Matcher4>
+inline internal::BothOfMatcher<Matcher1, internal::BothOfMatcher<Matcher2,
+ internal::BothOfMatcher<Matcher3, Matcher4> > >
+AllOf(Matcher1 m1, Matcher2 m2, Matcher3 m3, Matcher4 m4) {
+ return ::testing::AllOf(m1, ::testing::AllOf(m2, m3, m4));
+}
+
+template <typename Matcher1, typename Matcher2, typename Matcher3,
+ typename Matcher4, typename Matcher5>
+inline internal::BothOfMatcher<Matcher1, internal::BothOfMatcher<Matcher2,
+ internal::BothOfMatcher<Matcher3, internal::BothOfMatcher<Matcher4,
+ Matcher5> > > >
+AllOf(Matcher1 m1, Matcher2 m2, Matcher3 m3, Matcher4 m4, Matcher5 m5) {
+ return ::testing::AllOf(m1, ::testing::AllOf(m2, m3, m4, m5));
+}
+
+template <typename Matcher1, typename Matcher2, typename Matcher3,
+ typename Matcher4, typename Matcher5, typename Matcher6>
+inline internal::BothOfMatcher<Matcher1, internal::BothOfMatcher<Matcher2,
+ internal::BothOfMatcher<Matcher3, internal::BothOfMatcher<Matcher4,
+ internal::BothOfMatcher<Matcher5, Matcher6> > > > >
+AllOf(Matcher1 m1, Matcher2 m2, Matcher3 m3, Matcher4 m4, Matcher5 m5,
+ Matcher6 m6) {
+ return ::testing::AllOf(m1, ::testing::AllOf(m2, m3, m4, m5, m6));
+}
+
+template <typename Matcher1, typename Matcher2, typename Matcher3,
+ typename Matcher4, typename Matcher5, typename Matcher6, typename Matcher7>
+inline internal::BothOfMatcher<Matcher1, internal::BothOfMatcher<Matcher2,
+ internal::BothOfMatcher<Matcher3, internal::BothOfMatcher<Matcher4,
+ internal::BothOfMatcher<Matcher5, internal::BothOfMatcher<Matcher6,
+ Matcher7> > > > > >
+AllOf(Matcher1 m1, Matcher2 m2, Matcher3 m3, Matcher4 m4, Matcher5 m5,
+ Matcher6 m6, Matcher7 m7) {
+ return ::testing::AllOf(m1, ::testing::AllOf(m2, m3, m4, m5, m6, m7));
+}
+
+template <typename Matcher1, typename Matcher2, typename Matcher3,
+ typename Matcher4, typename Matcher5, typename Matcher6, typename Matcher7,
+ typename Matcher8>
+inline internal::BothOfMatcher<Matcher1, internal::BothOfMatcher<Matcher2,
+ internal::BothOfMatcher<Matcher3, internal::BothOfMatcher<Matcher4,
+ internal::BothOfMatcher<Matcher5, internal::BothOfMatcher<Matcher6,
+ internal::BothOfMatcher<Matcher7, Matcher8> > > > > > >
+AllOf(Matcher1 m1, Matcher2 m2, Matcher3 m3, Matcher4 m4, Matcher5 m5,
+ Matcher6 m6, Matcher7 m7, Matcher8 m8) {
+ return ::testing::AllOf(m1, ::testing::AllOf(m2, m3, m4, m5, m6, m7, m8));
+}
+
+template <typename Matcher1, typename Matcher2, typename Matcher3,
+ typename Matcher4, typename Matcher5, typename Matcher6, typename Matcher7,
+ typename Matcher8, typename Matcher9>
+inline internal::BothOfMatcher<Matcher1, internal::BothOfMatcher<Matcher2,
+ internal::BothOfMatcher<Matcher3, internal::BothOfMatcher<Matcher4,
+ internal::BothOfMatcher<Matcher5, internal::BothOfMatcher<Matcher6,
+ internal::BothOfMatcher<Matcher7, internal::BothOfMatcher<Matcher8,
+ Matcher9> > > > > > > >
+AllOf(Matcher1 m1, Matcher2 m2, Matcher3 m3, Matcher4 m4, Matcher5 m5,
+ Matcher6 m6, Matcher7 m7, Matcher8 m8, Matcher9 m9) {
+ return ::testing::AllOf(m1, ::testing::AllOf(m2, m3, m4, m5, m6, m7, m8, m9));
+}
+
+template <typename Matcher1, typename Matcher2, typename Matcher3,
+ typename Matcher4, typename Matcher5, typename Matcher6, typename Matcher7,
+ typename Matcher8, typename Matcher9, typename Matcher10>
+inline internal::BothOfMatcher<Matcher1, internal::BothOfMatcher<Matcher2,
+ internal::BothOfMatcher<Matcher3, internal::BothOfMatcher<Matcher4,
+ internal::BothOfMatcher<Matcher5, internal::BothOfMatcher<Matcher6,
+ internal::BothOfMatcher<Matcher7, internal::BothOfMatcher<Matcher8,
+ internal::BothOfMatcher<Matcher9, Matcher10> > > > > > > > >
+AllOf(Matcher1 m1, Matcher2 m2, Matcher3 m3, Matcher4 m4, Matcher5 m5,
+ Matcher6 m6, Matcher7 m7, Matcher8 m8, Matcher9 m9, Matcher10 m10) {
+ return ::testing::AllOf(m1, ::testing::AllOf(m2, m3, m4, m5, m6, m7, m8, m9,
+ m10));
+}
+
+// AnyOf(m1, m2, ..., mk) matches any value that matches any of the given
+// sub-matchers. AnyOf is called fully qualified to prevent ADL from firing.
+
+template <typename Matcher1, typename Matcher2>
+inline internal::EitherOfMatcher<Matcher1, Matcher2>
+AnyOf(Matcher1 m1, Matcher2 m2) {
+ return internal::EitherOfMatcher<Matcher1, Matcher2>(m1, m2);
+}
+
+template <typename Matcher1, typename Matcher2, typename Matcher3>
+inline internal::EitherOfMatcher<Matcher1, internal::EitherOfMatcher<Matcher2,
+ Matcher3> >
+AnyOf(Matcher1 m1, Matcher2 m2, Matcher3 m3) {
+ return ::testing::AnyOf(m1, ::testing::AnyOf(m2, m3));
+}
+
+template <typename Matcher1, typename Matcher2, typename Matcher3,
+ typename Matcher4>
+inline internal::EitherOfMatcher<Matcher1, internal::EitherOfMatcher<Matcher2,
+ internal::EitherOfMatcher<Matcher3, Matcher4> > >
+AnyOf(Matcher1 m1, Matcher2 m2, Matcher3 m3, Matcher4 m4) {
+ return ::testing::AnyOf(m1, ::testing::AnyOf(m2, m3, m4));
+}
+
+template <typename Matcher1, typename Matcher2, typename Matcher3,
+ typename Matcher4, typename Matcher5>
+inline internal::EitherOfMatcher<Matcher1, internal::EitherOfMatcher<Matcher2,
+ internal::EitherOfMatcher<Matcher3, internal::EitherOfMatcher<Matcher4,
+ Matcher5> > > >
+AnyOf(Matcher1 m1, Matcher2 m2, Matcher3 m3, Matcher4 m4, Matcher5 m5) {
+ return ::testing::AnyOf(m1, ::testing::AnyOf(m2, m3, m4, m5));
+}
+
+template <typename Matcher1, typename Matcher2, typename Matcher3,
+ typename Matcher4, typename Matcher5, typename Matcher6>
+inline internal::EitherOfMatcher<Matcher1, internal::EitherOfMatcher<Matcher2,
+ internal::EitherOfMatcher<Matcher3, internal::EitherOfMatcher<Matcher4,
+ internal::EitherOfMatcher<Matcher5, Matcher6> > > > >
+AnyOf(Matcher1 m1, Matcher2 m2, Matcher3 m3, Matcher4 m4, Matcher5 m5,
+ Matcher6 m6) {
+ return ::testing::AnyOf(m1, ::testing::AnyOf(m2, m3, m4, m5, m6));
+}
+
+template <typename Matcher1, typename Matcher2, typename Matcher3,
+ typename Matcher4, typename Matcher5, typename Matcher6, typename Matcher7>
+inline internal::EitherOfMatcher<Matcher1, internal::EitherOfMatcher<Matcher2,
+ internal::EitherOfMatcher<Matcher3, internal::EitherOfMatcher<Matcher4,
+ internal::EitherOfMatcher<Matcher5, internal::EitherOfMatcher<Matcher6,
+ Matcher7> > > > > >
+AnyOf(Matcher1 m1, Matcher2 m2, Matcher3 m3, Matcher4 m4, Matcher5 m5,
+ Matcher6 m6, Matcher7 m7) {
+ return ::testing::AnyOf(m1, ::testing::AnyOf(m2, m3, m4, m5, m6, m7));
+}
+
+template <typename Matcher1, typename Matcher2, typename Matcher3,
+ typename Matcher4, typename Matcher5, typename Matcher6, typename Matcher7,
+ typename Matcher8>
+inline internal::EitherOfMatcher<Matcher1, internal::EitherOfMatcher<Matcher2,
+ internal::EitherOfMatcher<Matcher3, internal::EitherOfMatcher<Matcher4,
+ internal::EitherOfMatcher<Matcher5, internal::EitherOfMatcher<Matcher6,
+ internal::EitherOfMatcher<Matcher7, Matcher8> > > > > > >
+AnyOf(Matcher1 m1, Matcher2 m2, Matcher3 m3, Matcher4 m4, Matcher5 m5,
+ Matcher6 m6, Matcher7 m7, Matcher8 m8) {
+ return ::testing::AnyOf(m1, ::testing::AnyOf(m2, m3, m4, m5, m6, m7, m8));
+}
+
+template <typename Matcher1, typename Matcher2, typename Matcher3,
+ typename Matcher4, typename Matcher5, typename Matcher6, typename Matcher7,
+ typename Matcher8, typename Matcher9>
+inline internal::EitherOfMatcher<Matcher1, internal::EitherOfMatcher<Matcher2,
+ internal::EitherOfMatcher<Matcher3, internal::EitherOfMatcher<Matcher4,
+ internal::EitherOfMatcher<Matcher5, internal::EitherOfMatcher<Matcher6,
+ internal::EitherOfMatcher<Matcher7, internal::EitherOfMatcher<Matcher8,
+ Matcher9> > > > > > > >
+AnyOf(Matcher1 m1, Matcher2 m2, Matcher3 m3, Matcher4 m4, Matcher5 m5,
+ Matcher6 m6, Matcher7 m7, Matcher8 m8, Matcher9 m9) {
+ return ::testing::AnyOf(m1, ::testing::AnyOf(m2, m3, m4, m5, m6, m7, m8, m9));
+}
+
+template <typename Matcher1, typename Matcher2, typename Matcher3,
+ typename Matcher4, typename Matcher5, typename Matcher6, typename Matcher7,
+ typename Matcher8, typename Matcher9, typename Matcher10>
+inline internal::EitherOfMatcher<Matcher1, internal::EitherOfMatcher<Matcher2,
+ internal::EitherOfMatcher<Matcher3, internal::EitherOfMatcher<Matcher4,
+ internal::EitherOfMatcher<Matcher5, internal::EitherOfMatcher<Matcher6,
+ internal::EitherOfMatcher<Matcher7, internal::EitherOfMatcher<Matcher8,
+ internal::EitherOfMatcher<Matcher9, Matcher10> > > > > > > > >
+AnyOf(Matcher1 m1, Matcher2 m2, Matcher3 m3, Matcher4 m4, Matcher5 m5,
+ Matcher6 m6, Matcher7 m7, Matcher8 m8, Matcher9 m9, Matcher10 m10) {
+ return ::testing::AnyOf(m1, ::testing::AnyOf(m2, m3, m4, m5, m6, m7, m8, m9,
+ m10));
+}
+
+} // namespace testing
+
+
+// The MATCHER* family of macros can be used in a namespace scope to
+// define custom matchers easily.
+//
+// Basic Usage
+// ===========
+//
+// The syntax
+//
+// MATCHER(name, description_string) { statements; }
+//
+// defines a matcher with the given name that executes the statements,
+// which must return a bool to indicate if the match succeeds. Inside
+// the statements, you can refer to the value being matched by 'arg',
+// and refer to its type by 'arg_type'.
+//
+// The description string documents what the matcher does, and is used
+// to generate the failure message when the match fails. Since a
+// MATCHER() is usually defined in a header file shared by multiple
+// C++ source files, we require the description to be a C-string
+// literal to avoid possible side effects. It can be empty, in which
+// case we'll use the sequence of words in the matcher name as the
+// description.
+//
+// For example:
+//
+// MATCHER(IsEven, "") { return (arg % 2) == 0; }
+//
+// allows you to write
+//
+// // Expects mock_foo.Bar(n) to be called where n is even.
+// EXPECT_CALL(mock_foo, Bar(IsEven()));
+//
+// or,
+//
+// // Verifies that the value of some_expression is even.
+// EXPECT_THAT(some_expression, IsEven());
+//
+// If the above assertion fails, it will print something like:
+//
+// Value of: some_expression
+// Expected: is even
+// Actual: 7
+//
+// where the description "is even" is automatically calculated from the
+// matcher name IsEven.
+//
+// Argument Type
+// =============
+//
+// Note that the type of the value being matched (arg_type) is
+// determined by the context in which you use the matcher and is
+// supplied to you by the compiler, so you don't need to worry about
+// declaring it (nor can you). This allows the matcher to be
+// polymorphic. For example, IsEven() can be used to match any type
+// where the value of "(arg % 2) == 0" can be implicitly converted to
+// a bool. In the "Bar(IsEven())" example above, if method Bar()
+// takes an int, 'arg_type' will be int; if it takes an unsigned long,
+// 'arg_type' will be unsigned long; and so on.
+//
+// Parameterizing Matchers
+// =======================
+//
+// Sometimes you'll want to parameterize the matcher. For that you
+// can use another macro:
+//
+// MATCHER_P(name, param_name, description_string) { statements; }
+//
+// For example:
+//
+// MATCHER_P(HasAbsoluteValue, value, "") { return abs(arg) == value; }
+//
+// will allow you to write:
+//
+// EXPECT_THAT(Blah("a"), HasAbsoluteValue(n));
+//
+// which may lead to this message (assuming n is 10):
+//
+// Value of: Blah("a")
+// Expected: has absolute value 10
+// Actual: -9
+//
+// Note that both the matcher description and its parameter are
+// printed, making the message human-friendly.
+//
+// In the matcher definition body, you can write 'foo_type' to
+// reference the type of a parameter named 'foo'. For example, in the
+// body of MATCHER_P(HasAbsoluteValue, value) above, you can write
+// 'value_type' to refer to the type of 'value'.
+//
+// We also provide MATCHER_P2, MATCHER_P3, ..., up to MATCHER_P10 to
+// support multi-parameter matchers.
+//
+// Describing Parameterized Matchers
+// =================================
+//
+// The last argument to MATCHER*() is a string-typed expression. The
+// expression can reference all of the matcher's parameters and a
+// special bool-typed variable named 'negation'. When 'negation' is
+// false, the expression should evaluate to the matcher's description;
+// otherwise it should evaluate to the description of the negation of
+// the matcher. For example,
+//
+// using testing::PrintToString;
+//
+// MATCHER_P2(InClosedRange, low, hi,
+// string(negation ? "is not" : "is") + " in range [" +
+// PrintToString(low) + ", " + PrintToString(hi) + "]") {
+// return low <= arg && arg <= hi;
+// }
+// ...
+// EXPECT_THAT(3, InClosedRange(4, 6));
+// EXPECT_THAT(3, Not(InClosedRange(2, 4)));
+//
+// would generate two failures that contain the text:
+//
+// Expected: is in range [4, 6]
+// ...
+// Expected: is not in range [2, 4]
+//
+// If you specify "" as the description, the failure message will
+// contain the sequence of words in the matcher name followed by the
+// parameter values printed as a tuple. For example,
+//
+// MATCHER_P2(InClosedRange, low, hi, "") { ... }
+// ...
+// EXPECT_THAT(3, InClosedRange(4, 6));
+// EXPECT_THAT(3, Not(InClosedRange(2, 4)));
+//
+// would generate two failures that contain the text:
+//
+// Expected: in closed range (4, 6)
+// ...
+// Expected: not (in closed range (2, 4))
+//
+// Types of Matcher Parameters
+// ===========================
+//
+// For the purpose of typing, you can view
+//
+// MATCHER_Pk(Foo, p1, ..., pk, description_string) { ... }
+//
+// as shorthand for
+//
+// template <typename p1_type, ..., typename pk_type>
+// FooMatcherPk<p1_type, ..., pk_type>
+// Foo(p1_type p1, ..., pk_type pk) { ... }
+//
+// When you write Foo(v1, ..., vk), the compiler infers the types of
+// the parameters v1, ..., and vk for you. If you are not happy with
+// the result of the type inference, you can specify the types by
+// explicitly instantiating the template, as in Foo<long, bool>(5,
+// false). As said earlier, you don't get to (or need to) specify
+// 'arg_type' as that's determined by the context in which the matcher
+// is used. You can assign the result of expression Foo(p1, ..., pk)
+// to a variable of type FooMatcherPk<p1_type, ..., pk_type>. This
+// can be useful when composing matchers.
+//
+// While you can instantiate a matcher template with reference types,
+// passing the parameters by pointer usually makes your code more
+// readable. If, however, you still want to pass a parameter by
+// reference, be aware that in the failure message generated by the
+// matcher you will see the value of the referenced object but not its
+// address.
+//
+// Explaining Match Results
+// ========================
+//
+// Sometimes the matcher description alone isn't enough to explain why
+// the match has failed or succeeded. For example, when expecting a
+// long string, it can be very helpful to also print the diff between
+// the expected string and the actual one. To achieve that, you can
+// optionally stream additional information to a special variable
+// named result_listener, whose type is a pointer to class
+// MatchResultListener:
+//
+// MATCHER_P(EqualsLongString, str, "") {
+// if (arg == str) return true;
+//
+// *result_listener << "the difference: "
+/// << DiffStrings(str, arg);
+// return false;
+// }
+//
+// Overloading Matchers
+// ====================
+//
+// You can overload matchers with different numbers of parameters:
+//
+// MATCHER_P(Blah, a, description_string1) { ... }
+// MATCHER_P2(Blah, a, b, description_string2) { ... }
+//
+// Caveats
+// =======
+//
+// When defining a new matcher, you should also consider implementing
+// MatcherInterface or using MakePolymorphicMatcher(). These
+// approaches require more work than the MATCHER* macros, but also
+// give you more control on the types of the value being matched and
+// the matcher parameters, which may leads to better compiler error
+// messages when the matcher is used wrong. They also allow
+// overloading matchers based on parameter types (as opposed to just
+// based on the number of parameters).
+//
+// MATCHER*() can only be used in a namespace scope. The reason is
+// that C++ doesn't yet allow function-local types to be used to
+// instantiate templates. The up-coming C++0x standard will fix this.
+// Once that's done, we'll consider supporting using MATCHER*() inside
+// a function.
+//
+// More Information
+// ================
+//
+// To learn more about using these macros, please search for 'MATCHER'
+// on http://code.google.com/p/googlemock/wiki/CookBook.
+
+#define MATCHER(name, description)\
+ class name##Matcher {\
+ public:\
+ template <typename arg_type>\
+ class gmock_Impl : public ::testing::MatcherInterface<arg_type> {\
+ public:\
+ gmock_Impl()\
+ {}\
+ virtual bool MatchAndExplain(\
+ arg_type arg, ::testing::MatchResultListener* result_listener) const;\
+ virtual void DescribeTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(false);\
+ }\
+ virtual void DescribeNegationTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(true);\
+ }\
+ private:\
+ ::testing::internal::string FormatDescription(bool negation) const {\
+ const ::testing::internal::string gmock_description = (description);\
+ if (!gmock_description.empty())\
+ return gmock_description;\
+ return ::testing::internal::FormatMatcherDescription(\
+ negation, #name,\
+ ::testing::internal::UniversalTersePrintTupleFieldsToStrings(\
+ ::std::tr1::tuple<>()));\
+ }\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename arg_type>\
+ operator ::testing::Matcher<arg_type>() const {\
+ return ::testing::Matcher<arg_type>(\
+ new gmock_Impl<arg_type>());\
+ }\
+ name##Matcher() {\
+ }\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##Matcher);\
+ };\
+ inline name##Matcher name() {\
+ return name##Matcher();\
+ }\
+ template <typename arg_type>\
+ bool name##Matcher::gmock_Impl<arg_type>::MatchAndExplain(\
+ arg_type arg,\
+ ::testing::MatchResultListener* result_listener GTEST_ATTRIBUTE_UNUSED_)\
+ const
+
+#define MATCHER_P(name, p0, description)\
+ template <typename p0##_type>\
+ class name##MatcherP {\
+ public:\
+ template <typename arg_type>\
+ class gmock_Impl : public ::testing::MatcherInterface<arg_type> {\
+ public:\
+ explicit gmock_Impl(p0##_type gmock_p0)\
+ : p0(gmock_p0) {}\
+ virtual bool MatchAndExplain(\
+ arg_type arg, ::testing::MatchResultListener* result_listener) const;\
+ virtual void DescribeTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(false);\
+ }\
+ virtual void DescribeNegationTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(true);\
+ }\
+ p0##_type p0;\
+ private:\
+ ::testing::internal::string FormatDescription(bool negation) const {\
+ const ::testing::internal::string gmock_description = (description);\
+ if (!gmock_description.empty())\
+ return gmock_description;\
+ return ::testing::internal::FormatMatcherDescription(\
+ negation, #name,\
+ ::testing::internal::UniversalTersePrintTupleFieldsToStrings(\
+ ::std::tr1::tuple<p0##_type>(p0)));\
+ }\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename arg_type>\
+ operator ::testing::Matcher<arg_type>() const {\
+ return ::testing::Matcher<arg_type>(\
+ new gmock_Impl<arg_type>(p0));\
+ }\
+ name##MatcherP(p0##_type gmock_p0) : p0(gmock_p0) {\
+ }\
+ p0##_type p0;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##MatcherP);\
+ };\
+ template <typename p0##_type>\
+ inline name##MatcherP<p0##_type> name(p0##_type p0) {\
+ return name##MatcherP<p0##_type>(p0);\
+ }\
+ template <typename p0##_type>\
+ template <typename arg_type>\
+ bool name##MatcherP<p0##_type>::gmock_Impl<arg_type>::MatchAndExplain(\
+ arg_type arg,\
+ ::testing::MatchResultListener* result_listener GTEST_ATTRIBUTE_UNUSED_)\
+ const
+
+#define MATCHER_P2(name, p0, p1, description)\
+ template <typename p0##_type, typename p1##_type>\
+ class name##MatcherP2 {\
+ public:\
+ template <typename arg_type>\
+ class gmock_Impl : public ::testing::MatcherInterface<arg_type> {\
+ public:\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1)\
+ : p0(gmock_p0), p1(gmock_p1) {}\
+ virtual bool MatchAndExplain(\
+ arg_type arg, ::testing::MatchResultListener* result_listener) const;\
+ virtual void DescribeTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(false);\
+ }\
+ virtual void DescribeNegationTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(true);\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ private:\
+ ::testing::internal::string FormatDescription(bool negation) const {\
+ const ::testing::internal::string gmock_description = (description);\
+ if (!gmock_description.empty())\
+ return gmock_description;\
+ return ::testing::internal::FormatMatcherDescription(\
+ negation, #name,\
+ ::testing::internal::UniversalTersePrintTupleFieldsToStrings(\
+ ::std::tr1::tuple<p0##_type, p1##_type>(p0, p1)));\
+ }\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename arg_type>\
+ operator ::testing::Matcher<arg_type>() const {\
+ return ::testing::Matcher<arg_type>(\
+ new gmock_Impl<arg_type>(p0, p1));\
+ }\
+ name##MatcherP2(p0##_type gmock_p0, p1##_type gmock_p1) : p0(gmock_p0), \
+ p1(gmock_p1) {\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##MatcherP2);\
+ };\
+ template <typename p0##_type, typename p1##_type>\
+ inline name##MatcherP2<p0##_type, p1##_type> name(p0##_type p0, \
+ p1##_type p1) {\
+ return name##MatcherP2<p0##_type, p1##_type>(p0, p1);\
+ }\
+ template <typename p0##_type, typename p1##_type>\
+ template <typename arg_type>\
+ bool name##MatcherP2<p0##_type, \
+ p1##_type>::gmock_Impl<arg_type>::MatchAndExplain(\
+ arg_type arg,\
+ ::testing::MatchResultListener* result_listener GTEST_ATTRIBUTE_UNUSED_)\
+ const
+
+#define MATCHER_P3(name, p0, p1, p2, description)\
+ template <typename p0##_type, typename p1##_type, typename p2##_type>\
+ class name##MatcherP3 {\
+ public:\
+ template <typename arg_type>\
+ class gmock_Impl : public ::testing::MatcherInterface<arg_type> {\
+ public:\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2)\
+ : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2) {}\
+ virtual bool MatchAndExplain(\
+ arg_type arg, ::testing::MatchResultListener* result_listener) const;\
+ virtual void DescribeTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(false);\
+ }\
+ virtual void DescribeNegationTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(true);\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ private:\
+ ::testing::internal::string FormatDescription(bool negation) const {\
+ const ::testing::internal::string gmock_description = (description);\
+ if (!gmock_description.empty())\
+ return gmock_description;\
+ return ::testing::internal::FormatMatcherDescription(\
+ negation, #name,\
+ ::testing::internal::UniversalTersePrintTupleFieldsToStrings(\
+ ::std::tr1::tuple<p0##_type, p1##_type, p2##_type>(p0, p1, \
+ p2)));\
+ }\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename arg_type>\
+ operator ::testing::Matcher<arg_type>() const {\
+ return ::testing::Matcher<arg_type>(\
+ new gmock_Impl<arg_type>(p0, p1, p2));\
+ }\
+ name##MatcherP3(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2) {\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##MatcherP3);\
+ };\
+ template <typename p0##_type, typename p1##_type, typename p2##_type>\
+ inline name##MatcherP3<p0##_type, p1##_type, p2##_type> name(p0##_type p0, \
+ p1##_type p1, p2##_type p2) {\
+ return name##MatcherP3<p0##_type, p1##_type, p2##_type>(p0, p1, p2);\
+ }\
+ template <typename p0##_type, typename p1##_type, typename p2##_type>\
+ template <typename arg_type>\
+ bool name##MatcherP3<p0##_type, p1##_type, \
+ p2##_type>::gmock_Impl<arg_type>::MatchAndExplain(\
+ arg_type arg,\
+ ::testing::MatchResultListener* result_listener GTEST_ATTRIBUTE_UNUSED_)\
+ const
+
+#define MATCHER_P4(name, p0, p1, p2, p3, description)\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type>\
+ class name##MatcherP4 {\
+ public:\
+ template <typename arg_type>\
+ class gmock_Impl : public ::testing::MatcherInterface<arg_type> {\
+ public:\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3)\
+ : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), p3(gmock_p3) {}\
+ virtual bool MatchAndExplain(\
+ arg_type arg, ::testing::MatchResultListener* result_listener) const;\
+ virtual void DescribeTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(false);\
+ }\
+ virtual void DescribeNegationTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(true);\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ private:\
+ ::testing::internal::string FormatDescription(bool negation) const {\
+ const ::testing::internal::string gmock_description = (description);\
+ if (!gmock_description.empty())\
+ return gmock_description;\
+ return ::testing::internal::FormatMatcherDescription(\
+ negation, #name,\
+ ::testing::internal::UniversalTersePrintTupleFieldsToStrings(\
+ ::std::tr1::tuple<p0##_type, p1##_type, p2##_type, \
+ p3##_type>(p0, p1, p2, p3)));\
+ }\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename arg_type>\
+ operator ::testing::Matcher<arg_type>() const {\
+ return ::testing::Matcher<arg_type>(\
+ new gmock_Impl<arg_type>(p0, p1, p2, p3));\
+ }\
+ name##MatcherP4(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2, p3##_type gmock_p3) : p0(gmock_p0), p1(gmock_p1), \
+ p2(gmock_p2), p3(gmock_p3) {\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##MatcherP4);\
+ };\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type>\
+ inline name##MatcherP4<p0##_type, p1##_type, p2##_type, \
+ p3##_type> name(p0##_type p0, p1##_type p1, p2##_type p2, \
+ p3##_type p3) {\
+ return name##MatcherP4<p0##_type, p1##_type, p2##_type, p3##_type>(p0, \
+ p1, p2, p3);\
+ }\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type>\
+ template <typename arg_type>\
+ bool name##MatcherP4<p0##_type, p1##_type, p2##_type, \
+ p3##_type>::gmock_Impl<arg_type>::MatchAndExplain(\
+ arg_type arg,\
+ ::testing::MatchResultListener* result_listener GTEST_ATTRIBUTE_UNUSED_)\
+ const
+
+#define MATCHER_P5(name, p0, p1, p2, p3, p4, description)\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type>\
+ class name##MatcherP5 {\
+ public:\
+ template <typename arg_type>\
+ class gmock_Impl : public ::testing::MatcherInterface<arg_type> {\
+ public:\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4)\
+ : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), p3(gmock_p3), \
+ p4(gmock_p4) {}\
+ virtual bool MatchAndExplain(\
+ arg_type arg, ::testing::MatchResultListener* result_listener) const;\
+ virtual void DescribeTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(false);\
+ }\
+ virtual void DescribeNegationTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(true);\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ private:\
+ ::testing::internal::string FormatDescription(bool negation) const {\
+ const ::testing::internal::string gmock_description = (description);\
+ if (!gmock_description.empty())\
+ return gmock_description;\
+ return ::testing::internal::FormatMatcherDescription(\
+ negation, #name,\
+ ::testing::internal::UniversalTersePrintTupleFieldsToStrings(\
+ ::std::tr1::tuple<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type>(p0, p1, p2, p3, p4)));\
+ }\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename arg_type>\
+ operator ::testing::Matcher<arg_type>() const {\
+ return ::testing::Matcher<arg_type>(\
+ new gmock_Impl<arg_type>(p0, p1, p2, p3, p4));\
+ }\
+ name##MatcherP5(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2, p3##_type gmock_p3, \
+ p4##_type gmock_p4) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3), p4(gmock_p4) {\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##MatcherP5);\
+ };\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type>\
+ inline name##MatcherP5<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type> name(p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, \
+ p4##_type p4) {\
+ return name##MatcherP5<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type>(p0, p1, p2, p3, p4);\
+ }\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type>\
+ template <typename arg_type>\
+ bool name##MatcherP5<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type>::gmock_Impl<arg_type>::MatchAndExplain(\
+ arg_type arg,\
+ ::testing::MatchResultListener* result_listener GTEST_ATTRIBUTE_UNUSED_)\
+ const
+
+#define MATCHER_P6(name, p0, p1, p2, p3, p4, p5, description)\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type>\
+ class name##MatcherP6 {\
+ public:\
+ template <typename arg_type>\
+ class gmock_Impl : public ::testing::MatcherInterface<arg_type> {\
+ public:\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5)\
+ : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), p3(gmock_p3), \
+ p4(gmock_p4), p5(gmock_p5) {}\
+ virtual bool MatchAndExplain(\
+ arg_type arg, ::testing::MatchResultListener* result_listener) const;\
+ virtual void DescribeTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(false);\
+ }\
+ virtual void DescribeNegationTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(true);\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ private:\
+ ::testing::internal::string FormatDescription(bool negation) const {\
+ const ::testing::internal::string gmock_description = (description);\
+ if (!gmock_description.empty())\
+ return gmock_description;\
+ return ::testing::internal::FormatMatcherDescription(\
+ negation, #name,\
+ ::testing::internal::UniversalTersePrintTupleFieldsToStrings(\
+ ::std::tr1::tuple<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type>(p0, p1, p2, p3, p4, p5)));\
+ }\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename arg_type>\
+ operator ::testing::Matcher<arg_type>() const {\
+ return ::testing::Matcher<arg_type>(\
+ new gmock_Impl<arg_type>(p0, p1, p2, p3, p4, p5));\
+ }\
+ name##MatcherP6(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2, p3##_type gmock_p3, p4##_type gmock_p4, \
+ p5##_type gmock_p5) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3), p4(gmock_p4), p5(gmock_p5) {\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##MatcherP6);\
+ };\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type>\
+ inline name##MatcherP6<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type> name(p0##_type p0, p1##_type p1, p2##_type p2, \
+ p3##_type p3, p4##_type p4, p5##_type p5) {\
+ return name##MatcherP6<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type>(p0, p1, p2, p3, p4, p5);\
+ }\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type>\
+ template <typename arg_type>\
+ bool name##MatcherP6<p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+ p5##_type>::gmock_Impl<arg_type>::MatchAndExplain(\
+ arg_type arg,\
+ ::testing::MatchResultListener* result_listener GTEST_ATTRIBUTE_UNUSED_)\
+ const
+
+#define MATCHER_P7(name, p0, p1, p2, p3, p4, p5, p6, description)\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type>\
+ class name##MatcherP7 {\
+ public:\
+ template <typename arg_type>\
+ class gmock_Impl : public ::testing::MatcherInterface<arg_type> {\
+ public:\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+ p6##_type gmock_p6)\
+ : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), p3(gmock_p3), \
+ p4(gmock_p4), p5(gmock_p5), p6(gmock_p6) {}\
+ virtual bool MatchAndExplain(\
+ arg_type arg, ::testing::MatchResultListener* result_listener) const;\
+ virtual void DescribeTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(false);\
+ }\
+ virtual void DescribeNegationTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(true);\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ p6##_type p6;\
+ private:\
+ ::testing::internal::string FormatDescription(bool negation) const {\
+ const ::testing::internal::string gmock_description = (description);\
+ if (!gmock_description.empty())\
+ return gmock_description;\
+ return ::testing::internal::FormatMatcherDescription(\
+ negation, #name,\
+ ::testing::internal::UniversalTersePrintTupleFieldsToStrings(\
+ ::std::tr1::tuple<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type>(p0, p1, p2, p3, p4, p5, \
+ p6)));\
+ }\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename arg_type>\
+ operator ::testing::Matcher<arg_type>() const {\
+ return ::testing::Matcher<arg_type>(\
+ new gmock_Impl<arg_type>(p0, p1, p2, p3, p4, p5, p6));\
+ }\
+ name##MatcherP7(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2, p3##_type gmock_p3, p4##_type gmock_p4, \
+ p5##_type gmock_p5, p6##_type gmock_p6) : p0(gmock_p0), p1(gmock_p1), \
+ p2(gmock_p2), p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), \
+ p6(gmock_p6) {\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ p6##_type p6;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##MatcherP7);\
+ };\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type>\
+ inline name##MatcherP7<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type> name(p0##_type p0, p1##_type p1, \
+ p2##_type p2, p3##_type p3, p4##_type p4, p5##_type p5, \
+ p6##_type p6) {\
+ return name##MatcherP7<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type>(p0, p1, p2, p3, p4, p5, p6);\
+ }\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type>\
+ template <typename arg_type>\
+ bool name##MatcherP7<p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+ p5##_type, p6##_type>::gmock_Impl<arg_type>::MatchAndExplain(\
+ arg_type arg,\
+ ::testing::MatchResultListener* result_listener GTEST_ATTRIBUTE_UNUSED_)\
+ const
+
+#define MATCHER_P8(name, p0, p1, p2, p3, p4, p5, p6, p7, description)\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type>\
+ class name##MatcherP8 {\
+ public:\
+ template <typename arg_type>\
+ class gmock_Impl : public ::testing::MatcherInterface<arg_type> {\
+ public:\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+ p6##_type gmock_p6, p7##_type gmock_p7)\
+ : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), p3(gmock_p3), \
+ p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), p7(gmock_p7) {}\
+ virtual bool MatchAndExplain(\
+ arg_type arg, ::testing::MatchResultListener* result_listener) const;\
+ virtual void DescribeTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(false);\
+ }\
+ virtual void DescribeNegationTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(true);\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ p6##_type p6;\
+ p7##_type p7;\
+ private:\
+ ::testing::internal::string FormatDescription(bool negation) const {\
+ const ::testing::internal::string gmock_description = (description);\
+ if (!gmock_description.empty())\
+ return gmock_description;\
+ return ::testing::internal::FormatMatcherDescription(\
+ negation, #name,\
+ ::testing::internal::UniversalTersePrintTupleFieldsToStrings(\
+ ::std::tr1::tuple<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type, p7##_type>(p0, p1, p2, \
+ p3, p4, p5, p6, p7)));\
+ }\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename arg_type>\
+ operator ::testing::Matcher<arg_type>() const {\
+ return ::testing::Matcher<arg_type>(\
+ new gmock_Impl<arg_type>(p0, p1, p2, p3, p4, p5, p6, p7));\
+ }\
+ name##MatcherP8(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2, p3##_type gmock_p3, p4##_type gmock_p4, \
+ p5##_type gmock_p5, p6##_type gmock_p6, \
+ p7##_type gmock_p7) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), \
+ p7(gmock_p7) {\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ p6##_type p6;\
+ p7##_type p7;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##MatcherP8);\
+ };\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type>\
+ inline name##MatcherP8<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type, p7##_type> name(p0##_type p0, \
+ p1##_type p1, p2##_type p2, p3##_type p3, p4##_type p4, p5##_type p5, \
+ p6##_type p6, p7##_type p7) {\
+ return name##MatcherP8<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type, p7##_type>(p0, p1, p2, p3, p4, p5, \
+ p6, p7);\
+ }\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type>\
+ template <typename arg_type>\
+ bool name##MatcherP8<p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+ p5##_type, p6##_type, \
+ p7##_type>::gmock_Impl<arg_type>::MatchAndExplain(\
+ arg_type arg,\
+ ::testing::MatchResultListener* result_listener GTEST_ATTRIBUTE_UNUSED_)\
+ const
+
+#define MATCHER_P9(name, p0, p1, p2, p3, p4, p5, p6, p7, p8, description)\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type, typename p8##_type>\
+ class name##MatcherP9 {\
+ public:\
+ template <typename arg_type>\
+ class gmock_Impl : public ::testing::MatcherInterface<arg_type> {\
+ public:\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+ p6##_type gmock_p6, p7##_type gmock_p7, p8##_type gmock_p8)\
+ : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), p3(gmock_p3), \
+ p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), p7(gmock_p7), \
+ p8(gmock_p8) {}\
+ virtual bool MatchAndExplain(\
+ arg_type arg, ::testing::MatchResultListener* result_listener) const;\
+ virtual void DescribeTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(false);\
+ }\
+ virtual void DescribeNegationTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(true);\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ p6##_type p6;\
+ p7##_type p7;\
+ p8##_type p8;\
+ private:\
+ ::testing::internal::string FormatDescription(bool negation) const {\
+ const ::testing::internal::string gmock_description = (description);\
+ if (!gmock_description.empty())\
+ return gmock_description;\
+ return ::testing::internal::FormatMatcherDescription(\
+ negation, #name,\
+ ::testing::internal::UniversalTersePrintTupleFieldsToStrings(\
+ ::std::tr1::tuple<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type, p7##_type, \
+ p8##_type>(p0, p1, p2, p3, p4, p5, p6, p7, p8)));\
+ }\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename arg_type>\
+ operator ::testing::Matcher<arg_type>() const {\
+ return ::testing::Matcher<arg_type>(\
+ new gmock_Impl<arg_type>(p0, p1, p2, p3, p4, p5, p6, p7, p8));\
+ }\
+ name##MatcherP9(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2, p3##_type gmock_p3, p4##_type gmock_p4, \
+ p5##_type gmock_p5, p6##_type gmock_p6, p7##_type gmock_p7, \
+ p8##_type gmock_p8) : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), \
+ p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), p7(gmock_p7), \
+ p8(gmock_p8) {\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ p6##_type p6;\
+ p7##_type p7;\
+ p8##_type p8;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##MatcherP9);\
+ };\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type, typename p8##_type>\
+ inline name##MatcherP9<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type, p7##_type, \
+ p8##_type> name(p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, \
+ p4##_type p4, p5##_type p5, p6##_type p6, p7##_type p7, \
+ p8##_type p8) {\
+ return name##MatcherP9<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type, p7##_type, p8##_type>(p0, p1, p2, \
+ p3, p4, p5, p6, p7, p8);\
+ }\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type, typename p8##_type>\
+ template <typename arg_type>\
+ bool name##MatcherP9<p0##_type, p1##_type, p2##_type, p3##_type, p4##_type, \
+ p5##_type, p6##_type, p7##_type, \
+ p8##_type>::gmock_Impl<arg_type>::MatchAndExplain(\
+ arg_type arg,\
+ ::testing::MatchResultListener* result_listener GTEST_ATTRIBUTE_UNUSED_)\
+ const
+
+#define MATCHER_P10(name, p0, p1, p2, p3, p4, p5, p6, p7, p8, p9, description)\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type, typename p8##_type, \
+ typename p9##_type>\
+ class name##MatcherP10 {\
+ public:\
+ template <typename arg_type>\
+ class gmock_Impl : public ::testing::MatcherInterface<arg_type> {\
+ public:\
+ gmock_Impl(p0##_type gmock_p0, p1##_type gmock_p1, p2##_type gmock_p2, \
+ p3##_type gmock_p3, p4##_type gmock_p4, p5##_type gmock_p5, \
+ p6##_type gmock_p6, p7##_type gmock_p7, p8##_type gmock_p8, \
+ p9##_type gmock_p9)\
+ : p0(gmock_p0), p1(gmock_p1), p2(gmock_p2), p3(gmock_p3), \
+ p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), p7(gmock_p7), \
+ p8(gmock_p8), p9(gmock_p9) {}\
+ virtual bool MatchAndExplain(\
+ arg_type arg, ::testing::MatchResultListener* result_listener) const;\
+ virtual void DescribeTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(false);\
+ }\
+ virtual void DescribeNegationTo(::std::ostream* gmock_os) const {\
+ *gmock_os << FormatDescription(true);\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ p6##_type p6;\
+ p7##_type p7;\
+ p8##_type p8;\
+ p9##_type p9;\
+ private:\
+ ::testing::internal::string FormatDescription(bool negation) const {\
+ const ::testing::internal::string gmock_description = (description);\
+ if (!gmock_description.empty())\
+ return gmock_description;\
+ return ::testing::internal::FormatMatcherDescription(\
+ negation, #name,\
+ ::testing::internal::UniversalTersePrintTupleFieldsToStrings(\
+ ::std::tr1::tuple<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type, p7##_type, p8##_type, \
+ p9##_type>(p0, p1, p2, p3, p4, p5, p6, p7, p8, p9)));\
+ }\
+ GTEST_DISALLOW_ASSIGN_(gmock_Impl);\
+ };\
+ template <typename arg_type>\
+ operator ::testing::Matcher<arg_type>() const {\
+ return ::testing::Matcher<arg_type>(\
+ new gmock_Impl<arg_type>(p0, p1, p2, p3, p4, p5, p6, p7, p8, p9));\
+ }\
+ name##MatcherP10(p0##_type gmock_p0, p1##_type gmock_p1, \
+ p2##_type gmock_p2, p3##_type gmock_p3, p4##_type gmock_p4, \
+ p5##_type gmock_p5, p6##_type gmock_p6, p7##_type gmock_p7, \
+ p8##_type gmock_p8, p9##_type gmock_p9) : p0(gmock_p0), p1(gmock_p1), \
+ p2(gmock_p2), p3(gmock_p3), p4(gmock_p4), p5(gmock_p5), p6(gmock_p6), \
+ p7(gmock_p7), p8(gmock_p8), p9(gmock_p9) {\
+ }\
+ p0##_type p0;\
+ p1##_type p1;\
+ p2##_type p2;\
+ p3##_type p3;\
+ p4##_type p4;\
+ p5##_type p5;\
+ p6##_type p6;\
+ p7##_type p7;\
+ p8##_type p8;\
+ p9##_type p9;\
+ private:\
+ GTEST_DISALLOW_ASSIGN_(name##MatcherP10);\
+ };\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type, typename p8##_type, \
+ typename p9##_type>\
+ inline name##MatcherP10<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type, p7##_type, p8##_type, \
+ p9##_type> name(p0##_type p0, p1##_type p1, p2##_type p2, p3##_type p3, \
+ p4##_type p4, p5##_type p5, p6##_type p6, p7##_type p7, p8##_type p8, \
+ p9##_type p9) {\
+ return name##MatcherP10<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type, p7##_type, p8##_type, p9##_type>(p0, \
+ p1, p2, p3, p4, p5, p6, p7, p8, p9);\
+ }\
+ template <typename p0##_type, typename p1##_type, typename p2##_type, \
+ typename p3##_type, typename p4##_type, typename p5##_type, \
+ typename p6##_type, typename p7##_type, typename p8##_type, \
+ typename p9##_type>\
+ template <typename arg_type>\
+ bool name##MatcherP10<p0##_type, p1##_type, p2##_type, p3##_type, \
+ p4##_type, p5##_type, p6##_type, p7##_type, p8##_type, \
+ p9##_type>::gmock_Impl<arg_type>::MatchAndExplain(\
+ arg_type arg,\
+ ::testing::MatchResultListener* result_listener GTEST_ATTRIBUTE_UNUSED_)\
+ const
+
+#endif // GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_MATCHERS_H_
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements some actions that depend on gmock-generated-actions.h.
+
+#ifndef GMOCK_INCLUDE_GMOCK_GMOCK_MORE_ACTIONS_H_
+#define GMOCK_INCLUDE_GMOCK_GMOCK_MORE_ACTIONS_H_
+
+#include <algorithm>
+
+
+namespace testing {
+namespace internal {
+
+// Implements the Invoke(f) action. The template argument
+// FunctionImpl is the implementation type of f, which can be either a
+// function pointer or a functor. Invoke(f) can be used as an
+// Action<F> as long as f's type is compatible with F (i.e. f can be
+// assigned to a tr1::function<F>).
+template <typename FunctionImpl>
+class InvokeAction {
+ public:
+ // The c'tor makes a copy of function_impl (either a function
+ // pointer or a functor).
+ explicit InvokeAction(FunctionImpl function_impl)
+ : function_impl_(function_impl) {}
+
+ template <typename Result, typename ArgumentTuple>
+ Result Perform(const ArgumentTuple& args) {
+ return InvokeHelper<Result, ArgumentTuple>::Invoke(function_impl_, args);
+ }
+
+ private:
+ FunctionImpl function_impl_;
+
+ GTEST_DISALLOW_ASSIGN_(InvokeAction);
+};
+
+// Implements the Invoke(object_ptr, &Class::Method) action.
+template <class Class, typename MethodPtr>
+class InvokeMethodAction {
+ public:
+ InvokeMethodAction(Class* obj_ptr, MethodPtr method_ptr)
+ : obj_ptr_(obj_ptr), method_ptr_(method_ptr) {}
+
+ template <typename Result, typename ArgumentTuple>
+ Result Perform(const ArgumentTuple& args) const {
+ return InvokeHelper<Result, ArgumentTuple>::InvokeMethod(
+ obj_ptr_, method_ptr_, args);
+ }
+
+ private:
+ Class* const obj_ptr_;
+ const MethodPtr method_ptr_;
+
+ GTEST_DISALLOW_ASSIGN_(InvokeMethodAction);
+};
+
+} // namespace internal
+
+// Various overloads for Invoke().
+
+// Creates an action that invokes 'function_impl' with the mock
+// function's arguments.
+template <typename FunctionImpl>
+PolymorphicAction<internal::InvokeAction<FunctionImpl> > Invoke(
+ FunctionImpl function_impl) {
+ return MakePolymorphicAction(
+ internal::InvokeAction<FunctionImpl>(function_impl));
+}
+
+// Creates an action that invokes the given method on the given object
+// with the mock function's arguments.
+template <class Class, typename MethodPtr>
+PolymorphicAction<internal::InvokeMethodAction<Class, MethodPtr> > Invoke(
+ Class* obj_ptr, MethodPtr method_ptr) {
+ return MakePolymorphicAction(
+ internal::InvokeMethodAction<Class, MethodPtr>(obj_ptr, method_ptr));
+}
+
+// WithoutArgs(inner_action) can be used in a mock function with a
+// non-empty argument list to perform inner_action, which takes no
+// argument. In other words, it adapts an action accepting no
+// argument to one that accepts (and ignores) arguments.
+template <typename InnerAction>
+inline internal::WithArgsAction<InnerAction>
+WithoutArgs(const InnerAction& action) {
+ return internal::WithArgsAction<InnerAction>(action);
+}
+
+// WithArg<k>(an_action) creates an action that passes the k-th
+// (0-based) argument of the mock function to an_action and performs
+// it. It adapts an action accepting one argument to one that accepts
+// multiple arguments. For convenience, we also provide
+// WithArgs<k>(an_action) (defined below) as a synonym.
+template <int k, typename InnerAction>
+inline internal::WithArgsAction<InnerAction, k>
+WithArg(const InnerAction& action) {
+ return internal::WithArgsAction<InnerAction, k>(action);
+}
+
+// The ACTION*() macros trigger warning C4100 (unreferenced formal
+// parameter) in MSVC with -W4. Unfortunately they cannot be fixed in
+// the macro definition, as the warnings are generated when the macro
+// is expanded and macro expansion cannot contain #pragma. Therefore
+// we suppress them here.
+#ifdef _MSC_VER
+# pragma warning(push)
+# pragma warning(disable:4100)
+#endif
+
+// Action ReturnArg<k>() returns the k-th argument of the mock function.
+ACTION_TEMPLATE(ReturnArg,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_0_VALUE_PARAMS()) {
+ return std::tr1::get<k>(args);
+}
+
+// Action SaveArg<k>(pointer) saves the k-th (0-based) argument of the
+// mock function to *pointer.
+ACTION_TEMPLATE(SaveArg,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_1_VALUE_PARAMS(pointer)) {
+ *pointer = ::std::tr1::get<k>(args);
+}
+
+// Action SaveArgPointee<k>(pointer) saves the value pointed to
+// by the k-th (0-based) argument of the mock function to *pointer.
+ACTION_TEMPLATE(SaveArgPointee,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_1_VALUE_PARAMS(pointer)) {
+ *pointer = *::std::tr1::get<k>(args);
+}
+
+// Action SetArgReferee<k>(value) assigns 'value' to the variable
+// referenced by the k-th (0-based) argument of the mock function.
+ACTION_TEMPLATE(SetArgReferee,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_1_VALUE_PARAMS(value)) {
+ typedef typename ::std::tr1::tuple_element<k, args_type>::type argk_type;
+ // Ensures that argument #k is a reference. If you get a compiler
+ // error on the next line, you are using SetArgReferee<k>(value) in
+ // a mock function whose k-th (0-based) argument is not a reference.
+ GTEST_COMPILE_ASSERT_(internal::is_reference<argk_type>::value,
+ SetArgReferee_must_be_used_with_a_reference_argument);
+ ::std::tr1::get<k>(args) = value;
+}
+
+// Action SetArrayArgument<k>(first, last) copies the elements in
+// source range [first, last) to the array pointed to by the k-th
+// (0-based) argument, which can be either a pointer or an
+// iterator. The action does not take ownership of the elements in the
+// source range.
+ACTION_TEMPLATE(SetArrayArgument,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_2_VALUE_PARAMS(first, last)) {
+ // Microsoft compiler deprecates ::std::copy, so we want to suppress warning
+ // 4996 (Function call with parameters that may be unsafe) there.
+#ifdef _MSC_VER
+# pragma warning(push) // Saves the current warning state.
+# pragma warning(disable:4996) // Temporarily disables warning 4996.
+#endif
+ ::std::copy(first, last, ::std::tr1::get<k>(args));
+#ifdef _MSC_VER
+# pragma warning(pop) // Restores the warning state.
+#endif
+}
+
+// Action DeleteArg<k>() deletes the k-th (0-based) argument of the mock
+// function.
+ACTION_TEMPLATE(DeleteArg,
+ HAS_1_TEMPLATE_PARAMS(int, k),
+ AND_0_VALUE_PARAMS()) {
+ delete ::std::tr1::get<k>(args);
+}
+
+// This action returns the value pointed to by 'pointer'.
+ACTION_P(ReturnPointee, pointer) { return *pointer; }
+
+// Action Throw(exception) can be used in a mock function of any type
+// to throw the given exception. Any copyable value can be thrown.
+#if GTEST_HAS_EXCEPTIONS
+
+// Suppresses the 'unreachable code' warning that VC generates in opt modes.
+# ifdef _MSC_VER
+# pragma warning(push) // Saves the current warning state.
+# pragma warning(disable:4702) // Temporarily disables warning 4702.
+# endif
+ACTION_P(Throw, exception) { throw exception; }
+# ifdef _MSC_VER
+# pragma warning(pop) // Restores the warning state.
+# endif
+
+#endif // GTEST_HAS_EXCEPTIONS
+
+#ifdef _MSC_VER
+# pragma warning(pop)
+#endif
+
+} // namespace testing
+
+#endif // GMOCK_INCLUDE_GMOCK_GMOCK_MORE_ACTIONS_H_
+// This file was GENERATED by a script. DO NOT EDIT BY HAND!!!
+
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Implements class templates NiceMock and StrictMock.
+//
+// Given a mock class MockFoo that is created using Google Mock,
+// NiceMock<MockFoo> is a subclass of MockFoo that allows
+// uninteresting calls (i.e. calls to mock methods that have no
+// EXPECT_CALL specs), and StrictMock<MockFoo> is a subclass of
+// MockFoo that treats all uninteresting calls as errors.
+//
+// NiceMock and StrictMock "inherits" the constructors of their
+// respective base class, with up-to 10 arguments. Therefore you can
+// write NiceMock<MockFoo>(5, "a") to construct a nice mock where
+// MockFoo has a constructor that accepts (int, const char*), for
+// example.
+//
+// A known limitation is that NiceMock<MockFoo> and
+// StrictMock<MockFoo> only works for mock methods defined using the
+// MOCK_METHOD* family of macros DIRECTLY in the MockFoo class. If a
+// mock method is defined in a base class of MockFoo, the "nice" or
+// "strict" modifier may not affect it, depending on the compiler. In
+// particular, nesting NiceMock and StrictMock is NOT supported.
+//
+// Another known limitation is that the constructors of the base mock
+// cannot have arguments passed by non-const reference, which are
+// banned by the Google C++ style guide anyway.
+
+#ifndef GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_NICE_STRICT_H_
+#define GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_NICE_STRICT_H_
+
+
+namespace testing {
+
+template <class MockClass>
+class NiceMock : public MockClass {
+ public:
+ // We don't factor out the constructor body to a common method, as
+ // we have to avoid a possible clash with members of MockClass.
+ NiceMock() {
+ ::testing::Mock::AllowUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ // C++ doesn't (yet) allow inheritance of constructors, so we have
+ // to define it for each arity.
+ template <typename A1>
+ explicit NiceMock(const A1& a1) : MockClass(a1) {
+ ::testing::Mock::AllowUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+ template <typename A1, typename A2>
+ NiceMock(const A1& a1, const A2& a2) : MockClass(a1, a2) {
+ ::testing::Mock::AllowUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3>
+ NiceMock(const A1& a1, const A2& a2, const A3& a3) : MockClass(a1, a2, a3) {
+ ::testing::Mock::AllowUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4>
+ NiceMock(const A1& a1, const A2& a2, const A3& a3,
+ const A4& a4) : MockClass(a1, a2, a3, a4) {
+ ::testing::Mock::AllowUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4, typename A5>
+ NiceMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+ const A5& a5) : MockClass(a1, a2, a3, a4, a5) {
+ ::testing::Mock::AllowUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6>
+ NiceMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+ const A5& a5, const A6& a6) : MockClass(a1, a2, a3, a4, a5, a6) {
+ ::testing::Mock::AllowUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6, typename A7>
+ NiceMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+ const A5& a5, const A6& a6, const A7& a7) : MockClass(a1, a2, a3, a4, a5,
+ a6, a7) {
+ ::testing::Mock::AllowUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6, typename A7, typename A8>
+ NiceMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+ const A5& a5, const A6& a6, const A7& a7, const A8& a8) : MockClass(a1,
+ a2, a3, a4, a5, a6, a7, a8) {
+ ::testing::Mock::AllowUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6, typename A7, typename A8, typename A9>
+ NiceMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+ const A5& a5, const A6& a6, const A7& a7, const A8& a8,
+ const A9& a9) : MockClass(a1, a2, a3, a4, a5, a6, a7, a8, a9) {
+ ::testing::Mock::AllowUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6, typename A7, typename A8, typename A9, typename A10>
+ NiceMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+ const A5& a5, const A6& a6, const A7& a7, const A8& a8, const A9& a9,
+ const A10& a10) : MockClass(a1, a2, a3, a4, a5, a6, a7, a8, a9, a10) {
+ ::testing::Mock::AllowUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ virtual ~NiceMock() {
+ ::testing::Mock::UnregisterCallReaction(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(NiceMock);
+};
+
+template <class MockClass>
+class StrictMock : public MockClass {
+ public:
+ // We don't factor out the constructor body to a common method, as
+ // we have to avoid a possible clash with members of MockClass.
+ StrictMock() {
+ ::testing::Mock::FailUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1>
+ explicit StrictMock(const A1& a1) : MockClass(a1) {
+ ::testing::Mock::FailUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+ template <typename A1, typename A2>
+ StrictMock(const A1& a1, const A2& a2) : MockClass(a1, a2) {
+ ::testing::Mock::FailUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3>
+ StrictMock(const A1& a1, const A2& a2, const A3& a3) : MockClass(a1, a2, a3) {
+ ::testing::Mock::FailUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4>
+ StrictMock(const A1& a1, const A2& a2, const A3& a3,
+ const A4& a4) : MockClass(a1, a2, a3, a4) {
+ ::testing::Mock::FailUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4, typename A5>
+ StrictMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+ const A5& a5) : MockClass(a1, a2, a3, a4, a5) {
+ ::testing::Mock::FailUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6>
+ StrictMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+ const A5& a5, const A6& a6) : MockClass(a1, a2, a3, a4, a5, a6) {
+ ::testing::Mock::FailUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6, typename A7>
+ StrictMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+ const A5& a5, const A6& a6, const A7& a7) : MockClass(a1, a2, a3, a4, a5,
+ a6, a7) {
+ ::testing::Mock::FailUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6, typename A7, typename A8>
+ StrictMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+ const A5& a5, const A6& a6, const A7& a7, const A8& a8) : MockClass(a1,
+ a2, a3, a4, a5, a6, a7, a8) {
+ ::testing::Mock::FailUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6, typename A7, typename A8, typename A9>
+ StrictMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+ const A5& a5, const A6& a6, const A7& a7, const A8& a8,
+ const A9& a9) : MockClass(a1, a2, a3, a4, a5, a6, a7, a8, a9) {
+ ::testing::Mock::FailUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ template <typename A1, typename A2, typename A3, typename A4, typename A5,
+ typename A6, typename A7, typename A8, typename A9, typename A10>
+ StrictMock(const A1& a1, const A2& a2, const A3& a3, const A4& a4,
+ const A5& a5, const A6& a6, const A7& a7, const A8& a8, const A9& a9,
+ const A10& a10) : MockClass(a1, a2, a3, a4, a5, a6, a7, a8, a9, a10) {
+ ::testing::Mock::FailUninterestingCalls(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ virtual ~StrictMock() {
+ ::testing::Mock::UnregisterCallReaction(
+ internal::ImplicitCast_<MockClass*>(this));
+ }
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(StrictMock);
+};
+
+// The following specializations catch some (relatively more common)
+// user errors of nesting nice and strict mocks. They do NOT catch
+// all possible errors.
+
+// These specializations are declared but not defined, as NiceMock and
+// StrictMock cannot be nested.
+template <typename MockClass>
+class NiceMock<NiceMock<MockClass> >;
+template <typename MockClass>
+class NiceMock<StrictMock<MockClass> >;
+template <typename MockClass>
+class StrictMock<NiceMock<MockClass> >;
+template <typename MockClass>
+class StrictMock<StrictMock<MockClass> >;
+
+} // namespace testing
+
+#endif // GMOCK_INCLUDE_GMOCK_GMOCK_GENERATED_NICE_STRICT_H_
+
+namespace testing {
+
+// Declares Google Mock flags that we want a user to use programmatically.
+GMOCK_DECLARE_bool_(catch_leaked_mocks);
+GMOCK_DECLARE_string_(verbose);
+
+// Initializes Google Mock. This must be called before running the
+// tests. In particular, it parses the command line for the flags
+// that Google Mock recognizes. Whenever a Google Mock flag is seen,
+// it is removed from argv, and *argc is decremented.
+//
+// No value is returned. Instead, the Google Mock flag variables are
+// updated.
+//
+// Since Google Test is needed for Google Mock to work, this function
+// also initializes Google Test and parses its flags, if that hasn't
+// been done.
+void InitGoogleMock(int* argc, char** argv);
+
+// This overloaded version can be used in Windows programs compiled in
+// UNICODE mode.
+void InitGoogleMock(int* argc, wchar_t** argv);
+
+} // namespace testing
+
+#endif // GMOCK_INCLUDE_GMOCK_GMOCK_H_
diff --git a/internal/ceres/gmock/mock-log.h b/internal/ceres/gmock/mock-log.h
new file mode 100644
index 0000000..bce54ab
--- /dev/null
+++ b/internal/ceres/gmock/mock-log.h
@@ -0,0 +1,160 @@
+// Copyright (c) 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: Zhanyong Wan
+//
+// Defines the ScopedMockLog class (using Google C++ Mocking
+// Framework), which is convenient for testing code that uses LOG().
+//
+// NOTE(keir): This is a fork until Google Log exports the scoped mock log
+// class; see: http://code.google.com/p/google-glog/issues/detail?id=88
+
+#ifndef GOOGLE_CERES_INTERNAL_MOCK_LOG_H_
+#define GOOGLE_CERES_INTERNAL_MOCK_LOG_H_
+
+#include <string>
+
+#include <gmock/gmock.h>
+
+#include "glog/logging.h"
+
+// Needed to make the scoped mock log tests work without modification.
+namespace ceres {
+namespace internal {
+using google::WARNING;
+} // namespace internal
+} // namespace ceres
+
+namespace testing {
+
+// A ScopedMockLog object intercepts LOG() messages issued during its
+// lifespan. Using this together with Google C++ Mocking Framework,
+// it's very easy to test how a piece of code calls LOG(). The
+// typical usage:
+//
+// TEST(FooTest, LogsCorrectly) {
+// ScopedMockLog log;
+//
+// // We expect the WARNING "Something bad!" exactly twice.
+// EXPECT_CALL(log, Log(WARNING, _, "Something bad!"))
+// .Times(2);
+//
+// // We allow foo.cc to call LOG(INFO) any number of times.
+// EXPECT_CALL(log, Log(INFO, HasSubstr("/foo.cc"), _))
+// .Times(AnyNumber());
+//
+// Foo(); // Exercises the code under test.
+// }
+class ScopedMockLog : public google::LogSink {
+ public:
+ // When a ScopedMockLog object is constructed, it starts to
+ // intercept logs.
+ ScopedMockLog() { AddLogSink(this); }
+
+ // When the object is destructed, it stops intercepting logs.
+ virtual ~ScopedMockLog() { RemoveLogSink(this); }
+
+ // Implements the mock method:
+ //
+ // void Log(LogSeverity severity, const string& file_path,
+ // const string& message);
+ //
+ // The second argument to Send() is the full path of the source file
+ // in which the LOG() was issued.
+ //
+ // Note, that in a multi-threaded environment, all LOG() messages from a
+ // single thread will be handled in sequence, but that cannot be guaranteed
+ // for messages from different threads. In fact, if the same or multiple
+ // expectations are matched on two threads concurrently, their actions will
+ // be executed concurrently as well and may interleave.
+ MOCK_METHOD3(Log, void(google::LogSeverity severity,
+ const std::string& file_path,
+ const std::string& message));
+
+ private:
+ // Implements the send() virtual function in class LogSink.
+ // Whenever a LOG() statement is executed, this function will be
+ // invoked with information presented in the LOG().
+ //
+ // The method argument list is long and carries much information a
+ // test usually doesn't care about, so we trim the list before
+ // forwarding the call to Log(), which is much easier to use in
+ // tests.
+ //
+ // We still cannot call Log() directly, as it may invoke other LOG()
+ // messages, either due to Invoke, or due to an error logged in
+ // Google C++ Mocking Framework code, which would trigger a deadlock
+ // since a lock is held during send().
+ //
+ // Hence, we save the message for WaitTillSent() which will be called after
+ // the lock on send() is released, and we'll call Log() inside
+ // WaitTillSent(). Since while a single send() call may be running at a
+ // time, multiple WaitTillSent() calls (along with the one send() call) may
+ // be running simultaneously, we ensure thread-safety of the exchange between
+ // send() and WaitTillSent(), and that for each message, LOG(), send(),
+ // WaitTillSent() and Log() are executed in the same thread.
+ virtual void send(google::LogSeverity severity,
+ const char* full_filename,
+ const char* base_filename, int line, const tm* tm_time,
+ const char* message, size_t message_len) {
+ // We are only interested in the log severity, full file name, and
+ // log message.
+ message_info_.severity = severity;
+ message_info_.file_path = full_filename;
+ message_info_.message = std::string(message, message_len);
+ }
+
+ // Implements the WaitTillSent() virtual function in class LogSink.
+ // It will be executed after send() and after the global logging lock is
+ // released, so calls within it (or rather within the Log() method called
+ // within) may also issue LOG() statements.
+ //
+ // LOG(), send(), WaitTillSent() and Log() will occur in the same thread for
+ // a given log message.
+ virtual void WaitTillSent() {
+ // First, and very importantly, we save a copy of the message being
+ // processed before calling Log(), since Log() may indirectly call send()
+ // and WaitTillSent() in the same thread again.
+ MessageInfo message_info = message_info_;
+ Log(message_info.severity, message_info.file_path, message_info.message);
+ }
+
+ // All relevant information about a logged message that needs to be passed
+ // from send() to WaitTillSent().
+ struct MessageInfo {
+ google::LogSeverity severity;
+ std::string file_path;
+ std::string message;
+ };
+ MessageInfo message_info_;
+};
+
+} // namespace testing
+
+#endif // GOOGLE_CERES_INTERNAL_MOCK_LOG_H_
diff --git a/internal/ceres/gmock_gtest_all.cc b/internal/ceres/gmock_gtest_all.cc
new file mode 100644
index 0000000..f7ead68
--- /dev/null
+++ b/internal/ceres/gmock_gtest_all.cc
@@ -0,0 +1,10554 @@
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: mheule@google.com (Markus Heule)
+//
+// Google C++ Testing Framework (Google Test)
+//
+// Sometimes it's desirable to build Google Test by compiling a single file.
+// This file serves this purpose.
+
+// This line ensures that gtest.h can be compiled on its own, even
+// when it's fused.
+#include "gtest/gtest.h"
+
+// The following lines pull in the real gtest *.cc files.
+// Copyright 2005, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+//
+// The Google C++ Testing Framework (Google Test)
+
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+//
+// Utilities for testing Google Test itself and code that uses Google Test
+// (e.g. frameworks built on top of Google Test).
+
+#ifndef GTEST_INCLUDE_GTEST_GTEST_SPI_H_
+#define GTEST_INCLUDE_GTEST_GTEST_SPI_H_
+
+
+namespace testing {
+
+// This helper class can be used to mock out Google Test failure reporting
+// so that we can test Google Test or code that builds on Google Test.
+//
+// An object of this class appends a TestPartResult object to the
+// TestPartResultArray object given in the constructor whenever a Google Test
+// failure is reported. It can either intercept only failures that are
+// generated in the same thread that created this object or it can intercept
+// all generated failures. The scope of this mock object can be controlled with
+// the second argument to the two arguments constructor.
+class GTEST_API_ ScopedFakeTestPartResultReporter
+ : public TestPartResultReporterInterface {
+ public:
+ // The two possible mocking modes of this object.
+ enum InterceptMode {
+ INTERCEPT_ONLY_CURRENT_THREAD, // Intercepts only thread local failures.
+ INTERCEPT_ALL_THREADS // Intercepts all failures.
+ };
+
+ // The c'tor sets this object as the test part result reporter used
+ // by Google Test. The 'result' parameter specifies where to report the
+ // results. This reporter will only catch failures generated in the current
+ // thread. DEPRECATED
+ explicit ScopedFakeTestPartResultReporter(TestPartResultArray* result);
+
+ // Same as above, but you can choose the interception scope of this object.
+ ScopedFakeTestPartResultReporter(InterceptMode intercept_mode,
+ TestPartResultArray* result);
+
+ // The d'tor restores the previous test part result reporter.
+ virtual ~ScopedFakeTestPartResultReporter();
+
+ // Appends the TestPartResult object to the TestPartResultArray
+ // received in the constructor.
+ //
+ // This method is from the TestPartResultReporterInterface
+ // interface.
+ virtual void ReportTestPartResult(const TestPartResult& result);
+ private:
+ void Init();
+
+ const InterceptMode intercept_mode_;
+ TestPartResultReporterInterface* old_reporter_;
+ TestPartResultArray* const result_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(ScopedFakeTestPartResultReporter);
+};
+
+namespace internal {
+
+// A helper class for implementing EXPECT_FATAL_FAILURE() and
+// EXPECT_NONFATAL_FAILURE(). Its destructor verifies that the given
+// TestPartResultArray contains exactly one failure that has the given
+// type and contains the given substring. If that's not the case, a
+// non-fatal failure will be generated.
+class GTEST_API_ SingleFailureChecker {
+ public:
+ // The constructor remembers the arguments.
+ SingleFailureChecker(const TestPartResultArray* results,
+ TestPartResult::Type type,
+ const string& substr);
+ ~SingleFailureChecker();
+ private:
+ const TestPartResultArray* const results_;
+ const TestPartResult::Type type_;
+ const string substr_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(SingleFailureChecker);
+};
+
+} // namespace internal
+
+} // namespace testing
+
+// A set of macros for testing Google Test assertions or code that's expected
+// to generate Google Test fatal failures. It verifies that the given
+// statement will cause exactly one fatal Google Test failure with 'substr'
+// being part of the failure message.
+//
+// There are two different versions of this macro. EXPECT_FATAL_FAILURE only
+// affects and considers failures generated in the current thread and
+// EXPECT_FATAL_FAILURE_ON_ALL_THREADS does the same but for all threads.
+//
+// The verification of the assertion is done correctly even when the statement
+// throws an exception or aborts the current function.
+//
+// Known restrictions:
+// - 'statement' cannot reference local non-static variables or
+// non-static members of the current object.
+// - 'statement' cannot return a value.
+// - You cannot stream a failure message to this macro.
+//
+// Note that even though the implementations of the following two
+// macros are much alike, we cannot refactor them to use a common
+// helper macro, due to some peculiarity in how the preprocessor
+// works. The AcceptsMacroThatExpandsToUnprotectedComma test in
+// gtest_unittest.cc will fail to compile if we do that.
+#define EXPECT_FATAL_FAILURE(statement, substr) \
+ do { \
+ class GTestExpectFatalFailureHelper {\
+ public:\
+ static void Execute() { statement; }\
+ };\
+ ::testing::TestPartResultArray gtest_failures;\
+ ::testing::internal::SingleFailureChecker gtest_checker(\
+ >est_failures, ::testing::TestPartResult::kFatalFailure, (substr));\
+ {\
+ ::testing::ScopedFakeTestPartResultReporter gtest_reporter(\
+ ::testing::ScopedFakeTestPartResultReporter:: \
+ INTERCEPT_ONLY_CURRENT_THREAD, >est_failures);\
+ GTestExpectFatalFailureHelper::Execute();\
+ }\
+ } while (::testing::internal::AlwaysFalse())
+
+#define EXPECT_FATAL_FAILURE_ON_ALL_THREADS(statement, substr) \
+ do { \
+ class GTestExpectFatalFailureHelper {\
+ public:\
+ static void Execute() { statement; }\
+ };\
+ ::testing::TestPartResultArray gtest_failures;\
+ ::testing::internal::SingleFailureChecker gtest_checker(\
+ >est_failures, ::testing::TestPartResult::kFatalFailure, (substr));\
+ {\
+ ::testing::ScopedFakeTestPartResultReporter gtest_reporter(\
+ ::testing::ScopedFakeTestPartResultReporter:: \
+ INTERCEPT_ALL_THREADS, >est_failures);\
+ GTestExpectFatalFailureHelper::Execute();\
+ }\
+ } while (::testing::internal::AlwaysFalse())
+
+// A macro for testing Google Test assertions or code that's expected to
+// generate Google Test non-fatal failures. It asserts that the given
+// statement will cause exactly one non-fatal Google Test failure with 'substr'
+// being part of the failure message.
+//
+// There are two different versions of this macro. EXPECT_NONFATAL_FAILURE only
+// affects and considers failures generated in the current thread and
+// EXPECT_NONFATAL_FAILURE_ON_ALL_THREADS does the same but for all threads.
+//
+// 'statement' is allowed to reference local variables and members of
+// the current object.
+//
+// The verification of the assertion is done correctly even when the statement
+// throws an exception or aborts the current function.
+//
+// Known restrictions:
+// - You cannot stream a failure message to this macro.
+//
+// Note that even though the implementations of the following two
+// macros are much alike, we cannot refactor them to use a common
+// helper macro, due to some peculiarity in how the preprocessor
+// works. If we do that, the code won't compile when the user gives
+// EXPECT_NONFATAL_FAILURE() a statement that contains a macro that
+// expands to code containing an unprotected comma. The
+// AcceptsMacroThatExpandsToUnprotectedComma test in gtest_unittest.cc
+// catches that.
+//
+// For the same reason, we have to write
+// if (::testing::internal::AlwaysTrue()) { statement; }
+// instead of
+// GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement)
+// to avoid an MSVC warning on unreachable code.
+#define EXPECT_NONFATAL_FAILURE(statement, substr) \
+ do {\
+ ::testing::TestPartResultArray gtest_failures;\
+ ::testing::internal::SingleFailureChecker gtest_checker(\
+ >est_failures, ::testing::TestPartResult::kNonFatalFailure, \
+ (substr));\
+ {\
+ ::testing::ScopedFakeTestPartResultReporter gtest_reporter(\
+ ::testing::ScopedFakeTestPartResultReporter:: \
+ INTERCEPT_ONLY_CURRENT_THREAD, >est_failures);\
+ if (::testing::internal::AlwaysTrue()) { statement; }\
+ }\
+ } while (::testing::internal::AlwaysFalse())
+
+#define EXPECT_NONFATAL_FAILURE_ON_ALL_THREADS(statement, substr) \
+ do {\
+ ::testing::TestPartResultArray gtest_failures;\
+ ::testing::internal::SingleFailureChecker gtest_checker(\
+ >est_failures, ::testing::TestPartResult::kNonFatalFailure, \
+ (substr));\
+ {\
+ ::testing::ScopedFakeTestPartResultReporter gtest_reporter(\
+ ::testing::ScopedFakeTestPartResultReporter::INTERCEPT_ALL_THREADS,\
+ >est_failures);\
+ if (::testing::internal::AlwaysTrue()) { statement; }\
+ }\
+ } while (::testing::internal::AlwaysFalse())
+
+#endif // GTEST_INCLUDE_GTEST_GTEST_SPI_H_
+
+#include <ctype.h>
+#include <math.h>
+#include <stdarg.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <wchar.h>
+#include <wctype.h>
+
+#include <algorithm>
+#include <ostream> // NOLINT
+#include <sstream>
+#include <vector>
+
+#if GTEST_OS_LINUX
+
+// TODO(kenton@google.com): Use autoconf to detect availability of
+// gettimeofday().
+# define GTEST_HAS_GETTIMEOFDAY_ 1
+
+# include <fcntl.h> // NOLINT
+# include <limits.h> // NOLINT
+# include <sched.h> // NOLINT
+// Declares vsnprintf(). This header is not available on Windows.
+# include <strings.h> // NOLINT
+# include <sys/mman.h> // NOLINT
+# include <sys/time.h> // NOLINT
+# include <unistd.h> // NOLINT
+# include <string>
+
+#elif GTEST_OS_SYMBIAN
+# define GTEST_HAS_GETTIMEOFDAY_ 1
+# include <sys/time.h> // NOLINT
+
+#elif GTEST_OS_ZOS
+# define GTEST_HAS_GETTIMEOFDAY_ 1
+# include <sys/time.h> // NOLINT
+
+// On z/OS we additionally need strings.h for strcasecmp.
+# include <strings.h> // NOLINT
+
+#elif GTEST_OS_WINDOWS_MOBILE // We are on Windows CE.
+
+# include <windows.h> // NOLINT
+
+#elif GTEST_OS_WINDOWS // We are on Windows proper.
+
+# include <io.h> // NOLINT
+# include <sys/timeb.h> // NOLINT
+# include <sys/types.h> // NOLINT
+# include <sys/stat.h> // NOLINT
+
+# if GTEST_OS_WINDOWS_MINGW
+// MinGW has gettimeofday() but not _ftime64().
+// TODO(kenton@google.com): Use autoconf to detect availability of
+// gettimeofday().
+// TODO(kenton@google.com): There are other ways to get the time on
+// Windows, like GetTickCount() or GetSystemTimeAsFileTime(). MinGW
+// supports these. consider using them instead.
+# define GTEST_HAS_GETTIMEOFDAY_ 1
+# include <sys/time.h> // NOLINT
+# endif // GTEST_OS_WINDOWS_MINGW
+
+// cpplint thinks that the header is already included, so we want to
+// silence it.
+# include <windows.h> // NOLINT
+
+#else
+
+// Assume other platforms have gettimeofday().
+// TODO(kenton@google.com): Use autoconf to detect availability of
+// gettimeofday().
+# define GTEST_HAS_GETTIMEOFDAY_ 1
+
+// cpplint thinks that the header is already included, so we want to
+// silence it.
+# include <sys/time.h> // NOLINT
+# include <unistd.h> // NOLINT
+
+#endif // GTEST_OS_LINUX
+
+#if GTEST_HAS_EXCEPTIONS
+# include <stdexcept>
+#endif
+
+#if GTEST_CAN_STREAM_RESULTS_
+# include <arpa/inet.h> // NOLINT
+# include <netdb.h> // NOLINT
+#endif
+
+// Indicates that this translation unit is part of Google Test's
+// implementation. It must come before gtest-internal-inl.h is
+// included, or there will be a compiler error. This trick is to
+// prevent a user from accidentally including gtest-internal-inl.h in
+// his code.
+#define GTEST_IMPLEMENTATION_ 1
+// Copyright 2005, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+// Utility functions and classes used by the Google C++ testing framework.
+//
+// Author: wan@google.com (Zhanyong Wan)
+//
+// This file contains purely Google Test's internal implementation. Please
+// DO NOT #INCLUDE IT IN A USER PROGRAM.
+
+#ifndef GTEST_SRC_GTEST_INTERNAL_INL_H_
+#define GTEST_SRC_GTEST_INTERNAL_INL_H_
+
+// GTEST_IMPLEMENTATION_ is defined to 1 iff the current translation unit is
+// part of Google Test's implementation; otherwise it's undefined.
+#if !GTEST_IMPLEMENTATION_
+// A user is trying to include this from his code - just say no.
+# error "gtest-internal-inl.h is part of Google Test's internal implementation."
+# error "It must not be included except by Google Test itself."
+#endif // GTEST_IMPLEMENTATION_
+
+#ifndef _WIN32_WCE
+# include <errno.h>
+#endif // !_WIN32_WCE
+#include <stddef.h>
+#include <stdlib.h> // For strtoll/_strtoul64/malloc/free.
+#include <string.h> // For memmove.
+
+#include <algorithm>
+#include <string>
+#include <vector>
+
+
+#if GTEST_OS_WINDOWS
+# include <windows.h> // NOLINT
+#endif // GTEST_OS_WINDOWS
+
+
+namespace testing {
+
+// Declares the flags.
+//
+// We don't want the users to modify this flag in the code, but want
+// Google Test's own unit tests to be able to access it. Therefore we
+// declare it here as opposed to in gtest.h.
+GTEST_DECLARE_bool_(death_test_use_fork);
+
+namespace internal {
+
+// The value of GetTestTypeId() as seen from within the Google Test
+// library. This is solely for testing GetTestTypeId().
+GTEST_API_ extern const TypeId kTestTypeIdInGoogleTest;
+
+// Names of the flags (needed for parsing Google Test flags).
+const char kAlsoRunDisabledTestsFlag[] = "also_run_disabled_tests";
+const char kBreakOnFailureFlag[] = "break_on_failure";
+const char kCatchExceptionsFlag[] = "catch_exceptions";
+const char kColorFlag[] = "color";
+const char kFilterFlag[] = "filter";
+const char kListTestsFlag[] = "list_tests";
+const char kOutputFlag[] = "output";
+const char kPrintTimeFlag[] = "print_time";
+const char kRandomSeedFlag[] = "random_seed";
+const char kRepeatFlag[] = "repeat";
+const char kShuffleFlag[] = "shuffle";
+const char kStackTraceDepthFlag[] = "stack_trace_depth";
+const char kStreamResultToFlag[] = "stream_result_to";
+const char kThrowOnFailureFlag[] = "throw_on_failure";
+
+// A valid random seed must be in [1, kMaxRandomSeed].
+const int kMaxRandomSeed = 99999;
+
+// g_help_flag is true iff the --help flag or an equivalent form is
+// specified on the command line.
+GTEST_API_ extern bool g_help_flag;
+
+// Returns the current time in milliseconds.
+GTEST_API_ TimeInMillis GetTimeInMillis();
+
+// Returns true iff Google Test should use colors in the output.
+GTEST_API_ bool ShouldUseColor(bool stdout_is_tty);
+
+// Formats the given time in milliseconds as seconds.
+GTEST_API_ std::string FormatTimeInMillisAsSeconds(TimeInMillis ms);
+
+// Parses a string for an Int32 flag, in the form of "--flag=value".
+//
+// On success, stores the value of the flag in *value, and returns
+// true. On failure, returns false without changing *value.
+GTEST_API_ bool ParseInt32Flag(
+ const char* str, const char* flag, Int32* value);
+
+// Returns a random seed in range [1, kMaxRandomSeed] based on the
+// given --gtest_random_seed flag value.
+inline int GetRandomSeedFromFlag(Int32 random_seed_flag) {
+ const unsigned int raw_seed = (random_seed_flag == 0) ?
+ static_cast<unsigned int>(GetTimeInMillis()) :
+ static_cast<unsigned int>(random_seed_flag);
+
+ // Normalizes the actual seed to range [1, kMaxRandomSeed] such that
+ // it's easy to type.
+ const int normalized_seed =
+ static_cast<int>((raw_seed - 1U) %
+ static_cast<unsigned int>(kMaxRandomSeed)) + 1;
+ return normalized_seed;
+}
+
+// Returns the first valid random seed after 'seed'. The behavior is
+// undefined if 'seed' is invalid. The seed after kMaxRandomSeed is
+// considered to be 1.
+inline int GetNextRandomSeed(int seed) {
+ GTEST_CHECK_(1 <= seed && seed <= kMaxRandomSeed)
+ << "Invalid random seed " << seed << " - must be in [1, "
+ << kMaxRandomSeed << "].";
+ const int next_seed = seed + 1;
+ return (next_seed > kMaxRandomSeed) ? 1 : next_seed;
+}
+
+// This class saves the values of all Google Test flags in its c'tor, and
+// restores them in its d'tor.
+class GTestFlagSaver {
+ public:
+ // The c'tor.
+ GTestFlagSaver() {
+ also_run_disabled_tests_ = GTEST_FLAG(also_run_disabled_tests);
+ break_on_failure_ = GTEST_FLAG(break_on_failure);
+ catch_exceptions_ = GTEST_FLAG(catch_exceptions);
+ color_ = GTEST_FLAG(color);
+ death_test_style_ = GTEST_FLAG(death_test_style);
+ death_test_use_fork_ = GTEST_FLAG(death_test_use_fork);
+ filter_ = GTEST_FLAG(filter);
+ internal_run_death_test_ = GTEST_FLAG(internal_run_death_test);
+ list_tests_ = GTEST_FLAG(list_tests);
+ output_ = GTEST_FLAG(output);
+ print_time_ = GTEST_FLAG(print_time);
+ random_seed_ = GTEST_FLAG(random_seed);
+ repeat_ = GTEST_FLAG(repeat);
+ shuffle_ = GTEST_FLAG(shuffle);
+ stack_trace_depth_ = GTEST_FLAG(stack_trace_depth);
+ stream_result_to_ = GTEST_FLAG(stream_result_to);
+ throw_on_failure_ = GTEST_FLAG(throw_on_failure);
+ }
+
+ // The d'tor is not virtual. DO NOT INHERIT FROM THIS CLASS.
+ ~GTestFlagSaver() {
+ GTEST_FLAG(also_run_disabled_tests) = also_run_disabled_tests_;
+ GTEST_FLAG(break_on_failure) = break_on_failure_;
+ GTEST_FLAG(catch_exceptions) = catch_exceptions_;
+ GTEST_FLAG(color) = color_;
+ GTEST_FLAG(death_test_style) = death_test_style_;
+ GTEST_FLAG(death_test_use_fork) = death_test_use_fork_;
+ GTEST_FLAG(filter) = filter_;
+ GTEST_FLAG(internal_run_death_test) = internal_run_death_test_;
+ GTEST_FLAG(list_tests) = list_tests_;
+ GTEST_FLAG(output) = output_;
+ GTEST_FLAG(print_time) = print_time_;
+ GTEST_FLAG(random_seed) = random_seed_;
+ GTEST_FLAG(repeat) = repeat_;
+ GTEST_FLAG(shuffle) = shuffle_;
+ GTEST_FLAG(stack_trace_depth) = stack_trace_depth_;
+ GTEST_FLAG(stream_result_to) = stream_result_to_;
+ GTEST_FLAG(throw_on_failure) = throw_on_failure_;
+ }
+ private:
+ // Fields for saving the original values of flags.
+ bool also_run_disabled_tests_;
+ bool break_on_failure_;
+ bool catch_exceptions_;
+ String color_;
+ String death_test_style_;
+ bool death_test_use_fork_;
+ String filter_;
+ String internal_run_death_test_;
+ bool list_tests_;
+ String output_;
+ bool print_time_;
+ bool pretty_;
+ internal::Int32 random_seed_;
+ internal::Int32 repeat_;
+ bool shuffle_;
+ internal::Int32 stack_trace_depth_;
+ String stream_result_to_;
+ bool throw_on_failure_;
+} GTEST_ATTRIBUTE_UNUSED_;
+
+// Converts a Unicode code point to a narrow string in UTF-8 encoding.
+// code_point parameter is of type UInt32 because wchar_t may not be
+// wide enough to contain a code point.
+// The output buffer str must containt at least 32 characters.
+// The function returns the address of the output buffer.
+// If the code_point is not a valid Unicode code point
+// (i.e. outside of Unicode range U+0 to U+10FFFF) it will be output
+// as '(Invalid Unicode 0xXXXXXXXX)'.
+GTEST_API_ char* CodePointToUtf8(UInt32 code_point, char* str);
+
+// Converts a wide string to a narrow string in UTF-8 encoding.
+// The wide string is assumed to have the following encoding:
+// UTF-16 if sizeof(wchar_t) == 2 (on Windows, Cygwin, Symbian OS)
+// UTF-32 if sizeof(wchar_t) == 4 (on Linux)
+// Parameter str points to a null-terminated wide string.
+// Parameter num_chars may additionally limit the number
+// of wchar_t characters processed. -1 is used when the entire string
+// should be processed.
+// If the string contains code points that are not valid Unicode code points
+// (i.e. outside of Unicode range U+0 to U+10FFFF) they will be output
+// as '(Invalid Unicode 0xXXXXXXXX)'. If the string is in UTF16 encoding
+// and contains invalid UTF-16 surrogate pairs, values in those pairs
+// will be encoded as individual Unicode characters from Basic Normal Plane.
+GTEST_API_ String WideStringToUtf8(const wchar_t* str, int num_chars);
+
+// Reads the GTEST_SHARD_STATUS_FILE environment variable, and creates the file
+// if the variable is present. If a file already exists at this location, this
+// function will write over it. If the variable is present, but the file cannot
+// be created, prints an error and exits.
+void WriteToShardStatusFileIfNeeded();
+
+// Checks whether sharding is enabled by examining the relevant
+// environment variable values. If the variables are present,
+// but inconsistent (e.g., shard_index >= total_shards), prints
+// an error and exits. If in_subprocess_for_death_test, sharding is
+// disabled because it must only be applied to the original test
+// process. Otherwise, we could filter out death tests we intended to execute.
+GTEST_API_ bool ShouldShard(const char* total_shards_str,
+ const char* shard_index_str,
+ bool in_subprocess_for_death_test);
+
+// Parses the environment variable var as an Int32. If it is unset,
+// returns default_val. If it is not an Int32, prints an error and
+// and aborts.
+GTEST_API_ Int32 Int32FromEnvOrDie(const char* env_var, Int32 default_val);
+
+// Given the total number of shards, the shard index, and the test id,
+// returns true iff the test should be run on this shard. The test id is
+// some arbitrary but unique non-negative integer assigned to each test
+// method. Assumes that 0 <= shard_index < total_shards.
+GTEST_API_ bool ShouldRunTestOnShard(
+ int total_shards, int shard_index, int test_id);
+
+// STL container utilities.
+
+// Returns the number of elements in the given container that satisfy
+// the given predicate.
+template <class Container, typename Predicate>
+inline int CountIf(const Container& c, Predicate predicate) {
+ // Implemented as an explicit loop since std::count_if() in libCstd on
+ // Solaris has a non-standard signature.
+ int count = 0;
+ for (typename Container::const_iterator it = c.begin(); it != c.end(); ++it) {
+ if (predicate(*it))
+ ++count;
+ }
+ return count;
+}
+
+// Applies a function/functor to each element in the container.
+template <class Container, typename Functor>
+void ForEach(const Container& c, Functor functor) {
+ std::for_each(c.begin(), c.end(), functor);
+}
+
+// Returns the i-th element of the vector, or default_value if i is not
+// in range [0, v.size()).
+template <typename E>
+inline E GetElementOr(const std::vector<E>& v, int i, E default_value) {
+ return (i < 0 || i >= static_cast<int>(v.size())) ? default_value : v[i];
+}
+
+// Performs an in-place shuffle of a range of the vector's elements.
+// 'begin' and 'end' are element indices as an STL-style range;
+// i.e. [begin, end) are shuffled, where 'end' == size() means to
+// shuffle to the end of the vector.
+template <typename E>
+void ShuffleRange(internal::Random* random, int begin, int end,
+ std::vector<E>* v) {
+ const int size = static_cast<int>(v->size());
+ GTEST_CHECK_(0 <= begin && begin <= size)
+ << "Invalid shuffle range start " << begin << ": must be in range [0, "
+ << size << "].";
+ GTEST_CHECK_(begin <= end && end <= size)
+ << "Invalid shuffle range finish " << end << ": must be in range ["
+ << begin << ", " << size << "].";
+
+ // Fisher-Yates shuffle, from
+ // http://en.wikipedia.org/wiki/Fisher-Yates_shuffle
+ for (int range_width = end - begin; range_width >= 2; range_width--) {
+ const int last_in_range = begin + range_width - 1;
+ const int selected = begin + random->Generate(range_width);
+ std::swap((*v)[selected], (*v)[last_in_range]);
+ }
+}
+
+// Performs an in-place shuffle of the vector's elements.
+template <typename E>
+inline void Shuffle(internal::Random* random, std::vector<E>* v) {
+ ShuffleRange(random, 0, static_cast<int>(v->size()), v);
+}
+
+// A function for deleting an object. Handy for being used as a
+// functor.
+template <typename T>
+static void Delete(T* x) {
+ delete x;
+}
+
+// A predicate that checks the key of a TestProperty against a known key.
+//
+// TestPropertyKeyIs is copyable.
+class TestPropertyKeyIs {
+ public:
+ // Constructor.
+ //
+ // TestPropertyKeyIs has NO default constructor.
+ explicit TestPropertyKeyIs(const char* key)
+ : key_(key) {}
+
+ // Returns true iff the test name of test property matches on key_.
+ bool operator()(const TestProperty& test_property) const {
+ return String(test_property.key()).Compare(key_) == 0;
+ }
+
+ private:
+ String key_;
+};
+
+// Class UnitTestOptions.
+//
+// This class contains functions for processing options the user
+// specifies when running the tests. It has only static members.
+//
+// In most cases, the user can specify an option using either an
+// environment variable or a command line flag. E.g. you can set the
+// test filter using either GTEST_FILTER or --gtest_filter. If both
+// the variable and the flag are present, the latter overrides the
+// former.
+class GTEST_API_ UnitTestOptions {
+ public:
+ // Functions for processing the gtest_output flag.
+
+ // Returns the output format, or "" for normal printed output.
+ static String GetOutputFormat();
+
+ // Returns the absolute path of the requested output file, or the
+ // default (test_detail.xml in the original working directory) if
+ // none was explicitly specified.
+ static String GetAbsolutePathToOutputFile();
+
+ // Functions for processing the gtest_filter flag.
+
+ // Returns true iff the wildcard pattern matches the string. The
+ // first ':' or '\0' character in pattern marks the end of it.
+ //
+ // This recursive algorithm isn't very efficient, but is clear and
+ // works well enough for matching test names, which are short.
+ static bool PatternMatchesString(const char *pattern, const char *str);
+
+ // Returns true iff the user-specified filter matches the test case
+ // name and the test name.
+ static bool FilterMatchesTest(const String &test_case_name,
+ const String &test_name);
+
+#if GTEST_OS_WINDOWS
+ // Function for supporting the gtest_catch_exception flag.
+
+ // Returns EXCEPTION_EXECUTE_HANDLER if Google Test should handle the
+ // given SEH exception, or EXCEPTION_CONTINUE_SEARCH otherwise.
+ // This function is useful as an __except condition.
+ static int GTestShouldProcessSEH(DWORD exception_code);
+#endif // GTEST_OS_WINDOWS
+
+ // Returns true if "name" matches the ':' separated list of glob-style
+ // filters in "filter".
+ static bool MatchesFilter(const String& name, const char* filter);
+};
+
+// Returns the current application's name, removing directory path if that
+// is present. Used by UnitTestOptions::GetOutputFile.
+GTEST_API_ FilePath GetCurrentExecutableName();
+
+// The role interface for getting the OS stack trace as a string.
+class OsStackTraceGetterInterface {
+ public:
+ OsStackTraceGetterInterface() {}
+ virtual ~OsStackTraceGetterInterface() {}
+
+ // Returns the current OS stack trace as a String. Parameters:
+ //
+ // max_depth - the maximum number of stack frames to be included
+ // in the trace.
+ // skip_count - the number of top frames to be skipped; doesn't count
+ // against max_depth.
+ virtual String CurrentStackTrace(int max_depth, int skip_count) = 0;
+
+ // UponLeavingGTest() should be called immediately before Google Test calls
+ // user code. It saves some information about the current stack that
+ // CurrentStackTrace() will use to find and hide Google Test stack frames.
+ virtual void UponLeavingGTest() = 0;
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(OsStackTraceGetterInterface);
+};
+
+// A working implementation of the OsStackTraceGetterInterface interface.
+class OsStackTraceGetter : public OsStackTraceGetterInterface {
+ public:
+ OsStackTraceGetter() : caller_frame_(NULL) {}
+ virtual String CurrentStackTrace(int max_depth, int skip_count);
+ virtual void UponLeavingGTest();
+
+ // This string is inserted in place of stack frames that are part of
+ // Google Test's implementation.
+ static const char* const kElidedFramesMarker;
+
+ private:
+ Mutex mutex_; // protects all internal state
+
+ // We save the stack frame below the frame that calls user code.
+ // We do this because the address of the frame immediately below
+ // the user code changes between the call to UponLeavingGTest()
+ // and any calls to CurrentStackTrace() from within the user code.
+ void* caller_frame_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(OsStackTraceGetter);
+};
+
+// Information about a Google Test trace point.
+struct TraceInfo {
+ const char* file;
+ int line;
+ String message;
+};
+
+// This is the default global test part result reporter used in UnitTestImpl.
+// This class should only be used by UnitTestImpl.
+class DefaultGlobalTestPartResultReporter
+ : public TestPartResultReporterInterface {
+ public:
+ explicit DefaultGlobalTestPartResultReporter(UnitTestImpl* unit_test);
+ // Implements the TestPartResultReporterInterface. Reports the test part
+ // result in the current test.
+ virtual void ReportTestPartResult(const TestPartResult& result);
+
+ private:
+ UnitTestImpl* const unit_test_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(DefaultGlobalTestPartResultReporter);
+};
+
+// This is the default per thread test part result reporter used in
+// UnitTestImpl. This class should only be used by UnitTestImpl.
+class DefaultPerThreadTestPartResultReporter
+ : public TestPartResultReporterInterface {
+ public:
+ explicit DefaultPerThreadTestPartResultReporter(UnitTestImpl* unit_test);
+ // Implements the TestPartResultReporterInterface. The implementation just
+ // delegates to the current global test part result reporter of *unit_test_.
+ virtual void ReportTestPartResult(const TestPartResult& result);
+
+ private:
+ UnitTestImpl* const unit_test_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(DefaultPerThreadTestPartResultReporter);
+};
+
+// The private implementation of the UnitTest class. We don't protect
+// the methods under a mutex, as this class is not accessible by a
+// user and the UnitTest class that delegates work to this class does
+// proper locking.
+class GTEST_API_ UnitTestImpl {
+ public:
+ explicit UnitTestImpl(UnitTest* parent);
+ virtual ~UnitTestImpl();
+
+ // There are two different ways to register your own TestPartResultReporter.
+ // You can register your own repoter to listen either only for test results
+ // from the current thread or for results from all threads.
+ // By default, each per-thread test result repoter just passes a new
+ // TestPartResult to the global test result reporter, which registers the
+ // test part result for the currently running test.
+
+ // Returns the global test part result reporter.
+ TestPartResultReporterInterface* GetGlobalTestPartResultReporter();
+
+ // Sets the global test part result reporter.
+ void SetGlobalTestPartResultReporter(
+ TestPartResultReporterInterface* reporter);
+
+ // Returns the test part result reporter for the current thread.
+ TestPartResultReporterInterface* GetTestPartResultReporterForCurrentThread();
+
+ // Sets the test part result reporter for the current thread.
+ void SetTestPartResultReporterForCurrentThread(
+ TestPartResultReporterInterface* reporter);
+
+ // Gets the number of successful test cases.
+ int successful_test_case_count() const;
+
+ // Gets the number of failed test cases.
+ int failed_test_case_count() const;
+
+ // Gets the number of all test cases.
+ int total_test_case_count() const;
+
+ // Gets the number of all test cases that contain at least one test
+ // that should run.
+ int test_case_to_run_count() const;
+
+ // Gets the number of successful tests.
+ int successful_test_count() const;
+
+ // Gets the number of failed tests.
+ int failed_test_count() const;
+
+ // Gets the number of disabled tests.
+ int disabled_test_count() const;
+
+ // Gets the number of all tests.
+ int total_test_count() const;
+
+ // Gets the number of tests that should run.
+ int test_to_run_count() const;
+
+ // Gets the elapsed time, in milliseconds.
+ TimeInMillis elapsed_time() const { return elapsed_time_; }
+
+ // Returns true iff the unit test passed (i.e. all test cases passed).
+ bool Passed() const { return !Failed(); }
+
+ // Returns true iff the unit test failed (i.e. some test case failed
+ // or something outside of all tests failed).
+ bool Failed() const {
+ return failed_test_case_count() > 0 || ad_hoc_test_result()->Failed();
+ }
+
+ // Gets the i-th test case among all the test cases. i can range from 0 to
+ // total_test_case_count() - 1. If i is not in that range, returns NULL.
+ const TestCase* GetTestCase(int i) const {
+ const int index = GetElementOr(test_case_indices_, i, -1);
+ return index < 0 ? NULL : test_cases_[i];
+ }
+
+ // Gets the i-th test case among all the test cases. i can range from 0 to
+ // total_test_case_count() - 1. If i is not in that range, returns NULL.
+ TestCase* GetMutableTestCase(int i) {
+ const int index = GetElementOr(test_case_indices_, i, -1);
+ return index < 0 ? NULL : test_cases_[index];
+ }
+
+ // Provides access to the event listener list.
+ TestEventListeners* listeners() { return &listeners_; }
+
+ // Returns the TestResult for the test that's currently running, or
+ // the TestResult for the ad hoc test if no test is running.
+ TestResult* current_test_result();
+
+ // Returns the TestResult for the ad hoc test.
+ const TestResult* ad_hoc_test_result() const { return &ad_hoc_test_result_; }
+
+ // Sets the OS stack trace getter.
+ //
+ // Does nothing if the input and the current OS stack trace getter
+ // are the same; otherwise, deletes the old getter and makes the
+ // input the current getter.
+ void set_os_stack_trace_getter(OsStackTraceGetterInterface* getter);
+
+ // Returns the current OS stack trace getter if it is not NULL;
+ // otherwise, creates an OsStackTraceGetter, makes it the current
+ // getter, and returns it.
+ OsStackTraceGetterInterface* os_stack_trace_getter();
+
+ // Returns the current OS stack trace as a String.
+ //
+ // The maximum number of stack frames to be included is specified by
+ // the gtest_stack_trace_depth flag. The skip_count parameter
+ // specifies the number of top frames to be skipped, which doesn't
+ // count against the number of frames to be included.
+ //
+ // For example, if Foo() calls Bar(), which in turn calls
+ // CurrentOsStackTraceExceptTop(1), Foo() will be included in the
+ // trace but Bar() and CurrentOsStackTraceExceptTop() won't.
+ String CurrentOsStackTraceExceptTop(int skip_count);
+
+ // Finds and returns a TestCase with the given name. If one doesn't
+ // exist, creates one and returns it.
+ //
+ // Arguments:
+ //
+ // test_case_name: name of the test case
+ // type_param: the name of the test's type parameter, or NULL if
+ // this is not a typed or a type-parameterized test.
+ // set_up_tc: pointer to the function that sets up the test case
+ // tear_down_tc: pointer to the function that tears down the test case
+ TestCase* GetTestCase(const char* test_case_name,
+ const char* type_param,
+ Test::SetUpTestCaseFunc set_up_tc,
+ Test::TearDownTestCaseFunc tear_down_tc);
+
+ // Adds a TestInfo to the unit test.
+ //
+ // Arguments:
+ //
+ // set_up_tc: pointer to the function that sets up the test case
+ // tear_down_tc: pointer to the function that tears down the test case
+ // test_info: the TestInfo object
+ void AddTestInfo(Test::SetUpTestCaseFunc set_up_tc,
+ Test::TearDownTestCaseFunc tear_down_tc,
+ TestInfo* test_info) {
+ // In order to support thread-safe death tests, we need to
+ // remember the original working directory when the test program
+ // was first invoked. We cannot do this in RUN_ALL_TESTS(), as
+ // the user may have changed the current directory before calling
+ // RUN_ALL_TESTS(). Therefore we capture the current directory in
+ // AddTestInfo(), which is called to register a TEST or TEST_F
+ // before main() is reached.
+ if (original_working_dir_.IsEmpty()) {
+ original_working_dir_.Set(FilePath::GetCurrentDir());
+ GTEST_CHECK_(!original_working_dir_.IsEmpty())
+ << "Failed to get the current working directory.";
+ }
+
+ GetTestCase(test_info->test_case_name(),
+ test_info->type_param(),
+ set_up_tc,
+ tear_down_tc)->AddTestInfo(test_info);
+ }
+
+#if GTEST_HAS_PARAM_TEST
+ // Returns ParameterizedTestCaseRegistry object used to keep track of
+ // value-parameterized tests and instantiate and register them.
+ internal::ParameterizedTestCaseRegistry& parameterized_test_registry() {
+ return parameterized_test_registry_;
+ }
+#endif // GTEST_HAS_PARAM_TEST
+
+ // Sets the TestCase object for the test that's currently running.
+ void set_current_test_case(TestCase* a_current_test_case) {
+ current_test_case_ = a_current_test_case;
+ }
+
+ // Sets the TestInfo object for the test that's currently running. If
+ // current_test_info is NULL, the assertion results will be stored in
+ // ad_hoc_test_result_.
+ void set_current_test_info(TestInfo* a_current_test_info) {
+ current_test_info_ = a_current_test_info;
+ }
+
+ // Registers all parameterized tests defined using TEST_P and
+ // INSTANTIATE_TEST_CASE_P, creating regular tests for each test/parameter
+ // combination. This method can be called more then once; it has guards
+ // protecting from registering the tests more then once. If
+ // value-parameterized tests are disabled, RegisterParameterizedTests is
+ // present but does nothing.
+ void RegisterParameterizedTests();
+
+ // Runs all tests in this UnitTest object, prints the result, and
+ // returns true if all tests are successful. If any exception is
+ // thrown during a test, this test is considered to be failed, but
+ // the rest of the tests will still be run.
+ bool RunAllTests();
+
+ // Clears the results of all tests, except the ad hoc tests.
+ void ClearNonAdHocTestResult() {
+ ForEach(test_cases_, TestCase::ClearTestCaseResult);
+ }
+
+ // Clears the results of ad-hoc test assertions.
+ void ClearAdHocTestResult() {
+ ad_hoc_test_result_.Clear();
+ }
+
+ enum ReactionToSharding {
+ HONOR_SHARDING_PROTOCOL,
+ IGNORE_SHARDING_PROTOCOL
+ };
+
+ // Matches the full name of each test against the user-specified
+ // filter to decide whether the test should run, then records the
+ // result in each TestCase and TestInfo object.
+ // If shard_tests == HONOR_SHARDING_PROTOCOL, further filters tests
+ // based on sharding variables in the environment.
+ // Returns the number of tests that should run.
+ int FilterTests(ReactionToSharding shard_tests);
+
+ // Prints the names of the tests matching the user-specified filter flag.
+ void ListTestsMatchingFilter();
+
+ const TestCase* current_test_case() const { return current_test_case_; }
+ TestInfo* current_test_info() { return current_test_info_; }
+ const TestInfo* current_test_info() const { return current_test_info_; }
+
+ // Returns the vector of environments that need to be set-up/torn-down
+ // before/after the tests are run.
+ std::vector<Environment*>& environments() { return environments_; }
+
+ // Getters for the per-thread Google Test trace stack.
+ std::vector<TraceInfo>& gtest_trace_stack() {
+ return *(gtest_trace_stack_.pointer());
+ }
+ const std::vector<TraceInfo>& gtest_trace_stack() const {
+ return gtest_trace_stack_.get();
+ }
+
+#if GTEST_HAS_DEATH_TEST
+ void InitDeathTestSubprocessControlInfo() {
+ internal_run_death_test_flag_.reset(ParseInternalRunDeathTestFlag());
+ }
+ // Returns a pointer to the parsed --gtest_internal_run_death_test
+ // flag, or NULL if that flag was not specified.
+ // This information is useful only in a death test child process.
+ // Must not be called before a call to InitGoogleTest.
+ const InternalRunDeathTestFlag* internal_run_death_test_flag() const {
+ return internal_run_death_test_flag_.get();
+ }
+
+ // Returns a pointer to the current death test factory.
+ internal::DeathTestFactory* death_test_factory() {
+ return death_test_factory_.get();
+ }
+
+ void SuppressTestEventsIfInSubprocess();
+
+ friend class ReplaceDeathTestFactory;
+#endif // GTEST_HAS_DEATH_TEST
+
+ // Initializes the event listener performing XML output as specified by
+ // UnitTestOptions. Must not be called before InitGoogleTest.
+ void ConfigureXmlOutput();
+
+#if GTEST_CAN_STREAM_RESULTS_
+ // Initializes the event listener for streaming test results to a socket.
+ // Must not be called before InitGoogleTest.
+ void ConfigureStreamingOutput();
+#endif
+
+ // Performs initialization dependent upon flag values obtained in
+ // ParseGoogleTestFlagsOnly. Is called from InitGoogleTest after the call to
+ // ParseGoogleTestFlagsOnly. In case a user neglects to call InitGoogleTest
+ // this function is also called from RunAllTests. Since this function can be
+ // called more than once, it has to be idempotent.
+ void PostFlagParsingInit();
+
+ // Gets the random seed used at the start of the current test iteration.
+ int random_seed() const { return random_seed_; }
+
+ // Gets the random number generator.
+ internal::Random* random() { return &random_; }
+
+ // Shuffles all test cases, and the tests within each test case,
+ // making sure that death tests are still run first.
+ void ShuffleTests();
+
+ // Restores the test cases and tests to their order before the first shuffle.
+ void UnshuffleTests();
+
+ // Returns the value of GTEST_FLAG(catch_exceptions) at the moment
+ // UnitTest::Run() starts.
+ bool catch_exceptions() const { return catch_exceptions_; }
+
+ private:
+ friend class ::testing::UnitTest;
+
+ // Used by UnitTest::Run() to capture the state of
+ // GTEST_FLAG(catch_exceptions) at the moment it starts.
+ void set_catch_exceptions(bool value) { catch_exceptions_ = value; }
+
+ // The UnitTest object that owns this implementation object.
+ UnitTest* const parent_;
+
+ // The working directory when the first TEST() or TEST_F() was
+ // executed.
+ internal::FilePath original_working_dir_;
+
+ // The default test part result reporters.
+ DefaultGlobalTestPartResultReporter default_global_test_part_result_reporter_;
+ DefaultPerThreadTestPartResultReporter
+ default_per_thread_test_part_result_reporter_;
+
+ // Points to (but doesn't own) the global test part result reporter.
+ TestPartResultReporterInterface* global_test_part_result_repoter_;
+
+ // Protects read and write access to global_test_part_result_reporter_.
+ internal::Mutex global_test_part_result_reporter_mutex_;
+
+ // Points to (but doesn't own) the per-thread test part result reporter.
+ internal::ThreadLocal<TestPartResultReporterInterface*>
+ per_thread_test_part_result_reporter_;
+
+ // The vector of environments that need to be set-up/torn-down
+ // before/after the tests are run.
+ std::vector<Environment*> environments_;
+
+ // The vector of TestCases in their original order. It owns the
+ // elements in the vector.
+ std::vector<TestCase*> test_cases_;
+
+ // Provides a level of indirection for the test case list to allow
+ // easy shuffling and restoring the test case order. The i-th
+ // element of this vector is the index of the i-th test case in the
+ // shuffled order.
+ std::vector<int> test_case_indices_;
+
+#if GTEST_HAS_PARAM_TEST
+ // ParameterizedTestRegistry object used to register value-parameterized
+ // tests.
+ internal::ParameterizedTestCaseRegistry parameterized_test_registry_;
+
+ // Indicates whether RegisterParameterizedTests() has been called already.
+ bool parameterized_tests_registered_;
+#endif // GTEST_HAS_PARAM_TEST
+
+ // Index of the last death test case registered. Initially -1.
+ int last_death_test_case_;
+
+ // This points to the TestCase for the currently running test. It
+ // changes as Google Test goes through one test case after another.
+ // When no test is running, this is set to NULL and Google Test
+ // stores assertion results in ad_hoc_test_result_. Initially NULL.
+ TestCase* current_test_case_;
+
+ // This points to the TestInfo for the currently running test. It
+ // changes as Google Test goes through one test after another. When
+ // no test is running, this is set to NULL and Google Test stores
+ // assertion results in ad_hoc_test_result_. Initially NULL.
+ TestInfo* current_test_info_;
+
+ // Normally, a user only writes assertions inside a TEST or TEST_F,
+ // or inside a function called by a TEST or TEST_F. Since Google
+ // Test keeps track of which test is current running, it can
+ // associate such an assertion with the test it belongs to.
+ //
+ // If an assertion is encountered when no TEST or TEST_F is running,
+ // Google Test attributes the assertion result to an imaginary "ad hoc"
+ // test, and records the result in ad_hoc_test_result_.
+ TestResult ad_hoc_test_result_;
+
+ // The list of event listeners that can be used to track events inside
+ // Google Test.
+ TestEventListeners listeners_;
+
+ // The OS stack trace getter. Will be deleted when the UnitTest
+ // object is destructed. By default, an OsStackTraceGetter is used,
+ // but the user can set this field to use a custom getter if that is
+ // desired.
+ OsStackTraceGetterInterface* os_stack_trace_getter_;
+
+ // True iff PostFlagParsingInit() has been called.
+ bool post_flag_parse_init_performed_;
+
+ // The random number seed used at the beginning of the test run.
+ int random_seed_;
+
+ // Our random number generator.
+ internal::Random random_;
+
+ // How long the test took to run, in milliseconds.
+ TimeInMillis elapsed_time_;
+
+#if GTEST_HAS_DEATH_TEST
+ // The decomposed components of the gtest_internal_run_death_test flag,
+ // parsed when RUN_ALL_TESTS is called.
+ internal::scoped_ptr<InternalRunDeathTestFlag> internal_run_death_test_flag_;
+ internal::scoped_ptr<internal::DeathTestFactory> death_test_factory_;
+#endif // GTEST_HAS_DEATH_TEST
+
+ // A per-thread stack of traces created by the SCOPED_TRACE() macro.
+ internal::ThreadLocal<std::vector<TraceInfo> > gtest_trace_stack_;
+
+ // The value of GTEST_FLAG(catch_exceptions) at the moment RunAllTests()
+ // starts.
+ bool catch_exceptions_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(UnitTestImpl);
+}; // class UnitTestImpl
+
+// Convenience function for accessing the global UnitTest
+// implementation object.
+inline UnitTestImpl* GetUnitTestImpl() {
+ return UnitTest::GetInstance()->impl();
+}
+
+#if GTEST_USES_SIMPLE_RE
+
+// Internal helper functions for implementing the simple regular
+// expression matcher.
+GTEST_API_ bool IsInSet(char ch, const char* str);
+GTEST_API_ bool IsAsciiDigit(char ch);
+GTEST_API_ bool IsAsciiPunct(char ch);
+GTEST_API_ bool IsRepeat(char ch);
+GTEST_API_ bool IsAsciiWhiteSpace(char ch);
+GTEST_API_ bool IsAsciiWordChar(char ch);
+GTEST_API_ bool IsValidEscape(char ch);
+GTEST_API_ bool AtomMatchesChar(bool escaped, char pattern, char ch);
+GTEST_API_ bool ValidateRegex(const char* regex);
+GTEST_API_ bool MatchRegexAtHead(const char* regex, const char* str);
+GTEST_API_ bool MatchRepetitionAndRegexAtHead(
+ bool escaped, char ch, char repeat, const char* regex, const char* str);
+GTEST_API_ bool MatchRegexAnywhere(const char* regex, const char* str);
+
+#endif // GTEST_USES_SIMPLE_RE
+
+// Parses the command line for Google Test flags, without initializing
+// other parts of Google Test.
+GTEST_API_ void ParseGoogleTestFlagsOnly(int* argc, char** argv);
+GTEST_API_ void ParseGoogleTestFlagsOnly(int* argc, wchar_t** argv);
+
+#if GTEST_HAS_DEATH_TEST
+
+// Returns the message describing the last system error, regardless of the
+// platform.
+GTEST_API_ String GetLastErrnoDescription();
+
+# if GTEST_OS_WINDOWS
+// Provides leak-safe Windows kernel handle ownership.
+class AutoHandle {
+ public:
+ AutoHandle() : handle_(INVALID_HANDLE_VALUE) {}
+ explicit AutoHandle(HANDLE handle) : handle_(handle) {}
+
+ ~AutoHandle() { Reset(); }
+
+ HANDLE Get() const { return handle_; }
+ void Reset() { Reset(INVALID_HANDLE_VALUE); }
+ void Reset(HANDLE handle) {
+ if (handle != handle_) {
+ if (handle_ != INVALID_HANDLE_VALUE)
+ ::CloseHandle(handle_);
+ handle_ = handle;
+ }
+ }
+
+ private:
+ HANDLE handle_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(AutoHandle);
+};
+# endif // GTEST_OS_WINDOWS
+
+// Attempts to parse a string into a positive integer pointed to by the
+// number parameter. Returns true if that is possible.
+// GTEST_HAS_DEATH_TEST implies that we have ::std::string, so we can use
+// it here.
+template <typename Integer>
+bool ParseNaturalNumber(const ::std::string& str, Integer* number) {
+ // Fail fast if the given string does not begin with a digit;
+ // this bypasses strtoXXX's "optional leading whitespace and plus
+ // or minus sign" semantics, which are undesirable here.
+ if (str.empty() || !IsDigit(str[0])) {
+ return false;
+ }
+ errno = 0;
+
+ char* end;
+ // BiggestConvertible is the largest integer type that system-provided
+ // string-to-number conversion routines can return.
+
+# if GTEST_OS_WINDOWS && !defined(__GNUC__)
+
+ // MSVC and C++ Builder define __int64 instead of the standard long long.
+ typedef unsigned __int64 BiggestConvertible;
+ const BiggestConvertible parsed = _strtoui64(str.c_str(), &end, 10);
+
+# else
+
+ typedef unsigned long long BiggestConvertible; // NOLINT
+ const BiggestConvertible parsed = strtoull(str.c_str(), &end, 10);
+
+# endif // GTEST_OS_WINDOWS && !defined(__GNUC__)
+
+ const bool parse_success = *end == '\0' && errno == 0;
+
+ // TODO(vladl@google.com): Convert this to compile time assertion when it is
+ // available.
+ GTEST_CHECK_(sizeof(Integer) <= sizeof(parsed));
+
+ const Integer result = static_cast<Integer>(parsed);
+ if (parse_success && static_cast<BiggestConvertible>(result) == parsed) {
+ *number = result;
+ return true;
+ }
+ return false;
+}
+#endif // GTEST_HAS_DEATH_TEST
+
+// TestResult contains some private methods that should be hidden from
+// Google Test user but are required for testing. This class allow our tests
+// to access them.
+//
+// This class is supplied only for the purpose of testing Google Test's own
+// constructs. Do not use it in user tests, either directly or indirectly.
+class TestResultAccessor {
+ public:
+ static void RecordProperty(TestResult* test_result,
+ const TestProperty& property) {
+ test_result->RecordProperty(property);
+ }
+
+ static void ClearTestPartResults(TestResult* test_result) {
+ test_result->ClearTestPartResults();
+ }
+
+ static const std::vector<testing::TestPartResult>& test_part_results(
+ const TestResult& test_result) {
+ return test_result.test_part_results();
+ }
+};
+
+} // namespace internal
+} // namespace testing
+
+#endif // GTEST_SRC_GTEST_INTERNAL_INL_H_
+#undef GTEST_IMPLEMENTATION_
+
+#if GTEST_OS_WINDOWS
+# define vsnprintf _vsnprintf
+#endif // GTEST_OS_WINDOWS
+
+namespace testing {
+
+using internal::CountIf;
+using internal::ForEach;
+using internal::GetElementOr;
+using internal::Shuffle;
+
+// Constants.
+
+// A test whose test case name or test name matches this filter is
+// disabled and not run.
+static const char kDisableTestFilter[] = "DISABLED_*:*/DISABLED_*";
+
+// A test case whose name matches this filter is considered a death
+// test case and will be run before test cases whose name doesn't
+// match this filter.
+static const char kDeathTestCaseFilter[] = "*DeathTest:*DeathTest/*";
+
+// A test filter that matches everything.
+static const char kUniversalFilter[] = "*";
+
+// The default output file for XML output.
+static const char kDefaultOutputFile[] = "test_detail.xml";
+
+// The environment variable name for the test shard index.
+static const char kTestShardIndex[] = "GTEST_SHARD_INDEX";
+// The environment variable name for the total number of test shards.
+static const char kTestTotalShards[] = "GTEST_TOTAL_SHARDS";
+// The environment variable name for the test shard status file.
+static const char kTestShardStatusFile[] = "GTEST_SHARD_STATUS_FILE";
+
+namespace internal {
+
+// The text used in failure messages to indicate the start of the
+// stack trace.
+const char kStackTraceMarker[] = "\nStack trace:\n";
+
+// g_help_flag is true iff the --help flag or an equivalent form is
+// specified on the command line.
+bool g_help_flag = false;
+
+} // namespace internal
+
+GTEST_DEFINE_bool_(
+ also_run_disabled_tests,
+ internal::BoolFromGTestEnv("also_run_disabled_tests", false),
+ "Run disabled tests too, in addition to the tests normally being run.");
+
+GTEST_DEFINE_bool_(
+ break_on_failure,
+ internal::BoolFromGTestEnv("break_on_failure", false),
+ "True iff a failed assertion should be a debugger break-point.");
+
+GTEST_DEFINE_bool_(
+ catch_exceptions,
+ internal::BoolFromGTestEnv("catch_exceptions", true),
+ "True iff " GTEST_NAME_
+ " should catch exceptions and treat them as test failures.");
+
+GTEST_DEFINE_string_(
+ color,
+ internal::StringFromGTestEnv("color", "auto"),
+ "Whether to use colors in the output. Valid values: yes, no, "
+ "and auto. 'auto' means to use colors if the output is "
+ "being sent to a terminal and the TERM environment variable "
+ "is set to xterm, xterm-color, xterm-256color, linux or cygwin.");
+
+GTEST_DEFINE_string_(
+ filter,
+ internal::StringFromGTestEnv("filter", kUniversalFilter),
+ "A colon-separated list of glob (not regex) patterns "
+ "for filtering the tests to run, optionally followed by a "
+ "'-' and a : separated list of negative patterns (tests to "
+ "exclude). A test is run if it matches one of the positive "
+ "patterns and does not match any of the negative patterns.");
+
+GTEST_DEFINE_bool_(list_tests, false,
+ "List all tests without running them.");
+
+GTEST_DEFINE_string_(
+ output,
+ internal::StringFromGTestEnv("output", ""),
+ "A format (currently must be \"xml\"), optionally followed "
+ "by a colon and an output file name or directory. A directory "
+ "is indicated by a trailing pathname separator. "
+ "Examples: \"xml:filename.xml\", \"xml::directoryname/\". "
+ "If a directory is specified, output files will be created "
+ "within that directory, with file-names based on the test "
+ "executable's name and, if necessary, made unique by adding "
+ "digits.");
+
+GTEST_DEFINE_bool_(
+ print_time,
+ internal::BoolFromGTestEnv("print_time", true),
+ "True iff " GTEST_NAME_
+ " should display elapsed time in text output.");
+
+GTEST_DEFINE_int32_(
+ random_seed,
+ internal::Int32FromGTestEnv("random_seed", 0),
+ "Random number seed to use when shuffling test orders. Must be in range "
+ "[1, 99999], or 0 to use a seed based on the current time.");
+
+GTEST_DEFINE_int32_(
+ repeat,
+ internal::Int32FromGTestEnv("repeat", 1),
+ "How many times to repeat each test. Specify a negative number "
+ "for repeating forever. Useful for shaking out flaky tests.");
+
+GTEST_DEFINE_bool_(
+ show_internal_stack_frames, false,
+ "True iff " GTEST_NAME_ " should include internal stack frames when "
+ "printing test failure stack traces.");
+
+GTEST_DEFINE_bool_(
+ shuffle,
+ internal::BoolFromGTestEnv("shuffle", false),
+ "True iff " GTEST_NAME_
+ " should randomize tests' order on every run.");
+
+GTEST_DEFINE_int32_(
+ stack_trace_depth,
+ internal::Int32FromGTestEnv("stack_trace_depth", kMaxStackTraceDepth),
+ "The maximum number of stack frames to print when an "
+ "assertion fails. The valid range is 0 through 100, inclusive.");
+
+GTEST_DEFINE_string_(
+ stream_result_to,
+ internal::StringFromGTestEnv("stream_result_to", ""),
+ "This flag specifies the host name and the port number on which to stream "
+ "test results. Example: \"localhost:555\". The flag is effective only on "
+ "Linux.");
+
+GTEST_DEFINE_bool_(
+ throw_on_failure,
+ internal::BoolFromGTestEnv("throw_on_failure", false),
+ "When this flag is specified, a failed assertion will throw an exception "
+ "if exceptions are enabled or exit the program with a non-zero code "
+ "otherwise.");
+
+namespace internal {
+
+// Generates a random number from [0, range), using a Linear
+// Congruential Generator (LCG). Crashes if 'range' is 0 or greater
+// than kMaxRange.
+UInt32 Random::Generate(UInt32 range) {
+ // These constants are the same as are used in glibc's rand(3).
+ state_ = (1103515245U*state_ + 12345U) % kMaxRange;
+
+ GTEST_CHECK_(range > 0)
+ << "Cannot generate a number in the range [0, 0).";
+ GTEST_CHECK_(range <= kMaxRange)
+ << "Generation of a number in [0, " << range << ") was requested, "
+ << "but this can only generate numbers in [0, " << kMaxRange << ").";
+
+ // Converting via modulus introduces a bit of downward bias, but
+ // it's simple, and a linear congruential generator isn't too good
+ // to begin with.
+ return state_ % range;
+}
+
+// GTestIsInitialized() returns true iff the user has initialized
+// Google Test. Useful for catching the user mistake of not initializing
+// Google Test before calling RUN_ALL_TESTS().
+//
+// A user must call testing::InitGoogleTest() to initialize Google
+// Test. g_init_gtest_count is set to the number of times
+// InitGoogleTest() has been called. We don't protect this variable
+// under a mutex as it is only accessed in the main thread.
+int g_init_gtest_count = 0;
+static bool GTestIsInitialized() { return g_init_gtest_count != 0; }
+
+// Iterates over a vector of TestCases, keeping a running sum of the
+// results of calling a given int-returning method on each.
+// Returns the sum.
+static int SumOverTestCaseList(const std::vector<TestCase*>& case_list,
+ int (TestCase::*method)() const) {
+ int sum = 0;
+ for (size_t i = 0; i < case_list.size(); i++) {
+ sum += (case_list[i]->*method)();
+ }
+ return sum;
+}
+
+// Returns true iff the test case passed.
+static bool TestCasePassed(const TestCase* test_case) {
+ return test_case->should_run() && test_case->Passed();
+}
+
+// Returns true iff the test case failed.
+static bool TestCaseFailed(const TestCase* test_case) {
+ return test_case->should_run() && test_case->Failed();
+}
+
+// Returns true iff test_case contains at least one test that should
+// run.
+static bool ShouldRunTestCase(const TestCase* test_case) {
+ return test_case->should_run();
+}
+
+// AssertHelper constructor.
+AssertHelper::AssertHelper(TestPartResult::Type type,
+ const char* file,
+ int line,
+ const char* message)
+ : data_(new AssertHelperData(type, file, line, message)) {
+}
+
+AssertHelper::~AssertHelper() {
+ delete data_;
+}
+
+// Message assignment, for assertion streaming support.
+void AssertHelper::operator=(const Message& message) const {
+ UnitTest::GetInstance()->
+ AddTestPartResult(data_->type, data_->file, data_->line,
+ AppendUserMessage(data_->message, message),
+ UnitTest::GetInstance()->impl()
+ ->CurrentOsStackTraceExceptTop(1)
+ // Skips the stack frame for this function itself.
+ ); // NOLINT
+}
+
+// Mutex for linked pointers.
+GTEST_DEFINE_STATIC_MUTEX_(g_linked_ptr_mutex);
+
+// Application pathname gotten in InitGoogleTest.
+String g_executable_path;
+
+// Returns the current application's name, removing directory path if that
+// is present.
+FilePath GetCurrentExecutableName() {
+ FilePath result;
+
+#if GTEST_OS_WINDOWS
+ result.Set(FilePath(g_executable_path).RemoveExtension("exe"));
+#else
+ result.Set(FilePath(g_executable_path));
+#endif // GTEST_OS_WINDOWS
+
+ return result.RemoveDirectoryName();
+}
+
+// Functions for processing the gtest_output flag.
+
+// Returns the output format, or "" for normal printed output.
+String UnitTestOptions::GetOutputFormat() {
+ const char* const gtest_output_flag = GTEST_FLAG(output).c_str();
+ if (gtest_output_flag == NULL) return String("");
+
+ const char* const colon = strchr(gtest_output_flag, ':');
+ return (colon == NULL) ?
+ String(gtest_output_flag) :
+ String(gtest_output_flag, colon - gtest_output_flag);
+}
+
+// Returns the name of the requested output file, or the default if none
+// was explicitly specified.
+String UnitTestOptions::GetAbsolutePathToOutputFile() {
+ const char* const gtest_output_flag = GTEST_FLAG(output).c_str();
+ if (gtest_output_flag == NULL)
+ return String("");
+
+ const char* const colon = strchr(gtest_output_flag, ':');
+ if (colon == NULL)
+ return String(internal::FilePath::ConcatPaths(
+ internal::FilePath(
+ UnitTest::GetInstance()->original_working_dir()),
+ internal::FilePath(kDefaultOutputFile)).ToString() );
+
+ internal::FilePath output_name(colon + 1);
+ if (!output_name.IsAbsolutePath())
+ // TODO(wan@google.com): on Windows \some\path is not an absolute
+ // path (as its meaning depends on the current drive), yet the
+ // following logic for turning it into an absolute path is wrong.
+ // Fix it.
+ output_name = internal::FilePath::ConcatPaths(
+ internal::FilePath(UnitTest::GetInstance()->original_working_dir()),
+ internal::FilePath(colon + 1));
+
+ if (!output_name.IsDirectory())
+ return output_name.ToString();
+
+ internal::FilePath result(internal::FilePath::GenerateUniqueFileName(
+ output_name, internal::GetCurrentExecutableName(),
+ GetOutputFormat().c_str()));
+ return result.ToString();
+}
+
+// Returns true iff the wildcard pattern matches the string. The
+// first ':' or '\0' character in pattern marks the end of it.
+//
+// This recursive algorithm isn't very efficient, but is clear and
+// works well enough for matching test names, which are short.
+bool UnitTestOptions::PatternMatchesString(const char *pattern,
+ const char *str) {
+ switch (*pattern) {
+ case '\0':
+ case ':': // Either ':' or '\0' marks the end of the pattern.
+ return *str == '\0';
+ case '?': // Matches any single character.
+ return *str != '\0' && PatternMatchesString(pattern + 1, str + 1);
+ case '*': // Matches any string (possibly empty) of characters.
+ return (*str != '\0' && PatternMatchesString(pattern, str + 1)) ||
+ PatternMatchesString(pattern + 1, str);
+ default: // Non-special character. Matches itself.
+ return *pattern == *str &&
+ PatternMatchesString(pattern + 1, str + 1);
+ }
+}
+
+bool UnitTestOptions::MatchesFilter(const String& name, const char* filter) {
+ const char *cur_pattern = filter;
+ for (;;) {
+ if (PatternMatchesString(cur_pattern, name.c_str())) {
+ return true;
+ }
+
+ // Finds the next pattern in the filter.
+ cur_pattern = strchr(cur_pattern, ':');
+
+ // Returns if no more pattern can be found.
+ if (cur_pattern == NULL) {
+ return false;
+ }
+
+ // Skips the pattern separater (the ':' character).
+ cur_pattern++;
+ }
+}
+
+// TODO(keithray): move String function implementations to gtest-string.cc.
+
+// Returns true iff the user-specified filter matches the test case
+// name and the test name.
+bool UnitTestOptions::FilterMatchesTest(const String &test_case_name,
+ const String &test_name) {
+ const String& full_name = String::Format("%s.%s",
+ test_case_name.c_str(),
+ test_name.c_str());
+
+ // Split --gtest_filter at '-', if there is one, to separate into
+ // positive filter and negative filter portions
+ const char* const p = GTEST_FLAG(filter).c_str();
+ const char* const dash = strchr(p, '-');
+ String positive;
+ String negative;
+ if (dash == NULL) {
+ positive = GTEST_FLAG(filter).c_str(); // Whole string is a positive filter
+ negative = String("");
+ } else {
+ positive = String(p, dash - p); // Everything up to the dash
+ negative = String(dash+1); // Everything after the dash
+ if (positive.empty()) {
+ // Treat '-test1' as the same as '*-test1'
+ positive = kUniversalFilter;
+ }
+ }
+
+ // A filter is a colon-separated list of patterns. It matches a
+ // test if any pattern in it matches the test.
+ return (MatchesFilter(full_name, positive.c_str()) &&
+ !MatchesFilter(full_name, negative.c_str()));
+}
+
+#if GTEST_HAS_SEH
+// Returns EXCEPTION_EXECUTE_HANDLER if Google Test should handle the
+// given SEH exception, or EXCEPTION_CONTINUE_SEARCH otherwise.
+// This function is useful as an __except condition.
+int UnitTestOptions::GTestShouldProcessSEH(DWORD exception_code) {
+ // Google Test should handle a SEH exception if:
+ // 1. the user wants it to, AND
+ // 2. this is not a breakpoint exception, AND
+ // 3. this is not a C++ exception (VC++ implements them via SEH,
+ // apparently).
+ //
+ // SEH exception code for C++ exceptions.
+ // (see http://support.microsoft.com/kb/185294 for more information).
+ const DWORD kCxxExceptionCode = 0xe06d7363;
+
+ bool should_handle = true;
+
+ if (!GTEST_FLAG(catch_exceptions))
+ should_handle = false;
+ else if (exception_code == EXCEPTION_BREAKPOINT)
+ should_handle = false;
+ else if (exception_code == kCxxExceptionCode)
+ should_handle = false;
+
+ return should_handle ? EXCEPTION_EXECUTE_HANDLER : EXCEPTION_CONTINUE_SEARCH;
+}
+#endif // GTEST_HAS_SEH
+
+} // namespace internal
+
+// The c'tor sets this object as the test part result reporter used by
+// Google Test. The 'result' parameter specifies where to report the
+// results. Intercepts only failures from the current thread.
+ScopedFakeTestPartResultReporter::ScopedFakeTestPartResultReporter(
+ TestPartResultArray* result)
+ : intercept_mode_(INTERCEPT_ONLY_CURRENT_THREAD),
+ result_(result) {
+ Init();
+}
+
+// The c'tor sets this object as the test part result reporter used by
+// Google Test. The 'result' parameter specifies where to report the
+// results.
+ScopedFakeTestPartResultReporter::ScopedFakeTestPartResultReporter(
+ InterceptMode intercept_mode, TestPartResultArray* result)
+ : intercept_mode_(intercept_mode),
+ result_(result) {
+ Init();
+}
+
+void ScopedFakeTestPartResultReporter::Init() {
+ internal::UnitTestImpl* const impl = internal::GetUnitTestImpl();
+ if (intercept_mode_ == INTERCEPT_ALL_THREADS) {
+ old_reporter_ = impl->GetGlobalTestPartResultReporter();
+ impl->SetGlobalTestPartResultReporter(this);
+ } else {
+ old_reporter_ = impl->GetTestPartResultReporterForCurrentThread();
+ impl->SetTestPartResultReporterForCurrentThread(this);
+ }
+}
+
+// The d'tor restores the test part result reporter used by Google Test
+// before.
+ScopedFakeTestPartResultReporter::~ScopedFakeTestPartResultReporter() {
+ internal::UnitTestImpl* const impl = internal::GetUnitTestImpl();
+ if (intercept_mode_ == INTERCEPT_ALL_THREADS) {
+ impl->SetGlobalTestPartResultReporter(old_reporter_);
+ } else {
+ impl->SetTestPartResultReporterForCurrentThread(old_reporter_);
+ }
+}
+
+// Increments the test part result count and remembers the result.
+// This method is from the TestPartResultReporterInterface interface.
+void ScopedFakeTestPartResultReporter::ReportTestPartResult(
+ const TestPartResult& result) {
+ result_->Append(result);
+}
+
+namespace internal {
+
+// Returns the type ID of ::testing::Test. We should always call this
+// instead of GetTypeId< ::testing::Test>() to get the type ID of
+// testing::Test. This is to work around a suspected linker bug when
+// using Google Test as a framework on Mac OS X. The bug causes
+// GetTypeId< ::testing::Test>() to return different values depending
+// on whether the call is from the Google Test framework itself or
+// from user test code. GetTestTypeId() is guaranteed to always
+// return the same value, as it always calls GetTypeId<>() from the
+// gtest.cc, which is within the Google Test framework.
+TypeId GetTestTypeId() {
+ return GetTypeId<Test>();
+}
+
+// The value of GetTestTypeId() as seen from within the Google Test
+// library. This is solely for testing GetTestTypeId().
+extern const TypeId kTestTypeIdInGoogleTest = GetTestTypeId();
+
+// This predicate-formatter checks that 'results' contains a test part
+// failure of the given type and that the failure message contains the
+// given substring.
+AssertionResult HasOneFailure(const char* /* results_expr */,
+ const char* /* type_expr */,
+ const char* /* substr_expr */,
+ const TestPartResultArray& results,
+ TestPartResult::Type type,
+ const string& substr) {
+ const String expected(type == TestPartResult::kFatalFailure ?
+ "1 fatal failure" :
+ "1 non-fatal failure");
+ Message msg;
+ if (results.size() != 1) {
+ msg << "Expected: " << expected << "\n"
+ << " Actual: " << results.size() << " failures";
+ for (int i = 0; i < results.size(); i++) {
+ msg << "\n" << results.GetTestPartResult(i);
+ }
+ return AssertionFailure() << msg;
+ }
+
+ const TestPartResult& r = results.GetTestPartResult(0);
+ if (r.type() != type) {
+ return AssertionFailure() << "Expected: " << expected << "\n"
+ << " Actual:\n"
+ << r;
+ }
+
+ if (strstr(r.message(), substr.c_str()) == NULL) {
+ return AssertionFailure() << "Expected: " << expected << " containing \""
+ << substr << "\"\n"
+ << " Actual:\n"
+ << r;
+ }
+
+ return AssertionSuccess();
+}
+
+// The constructor of SingleFailureChecker remembers where to look up
+// test part results, what type of failure we expect, and what
+// substring the failure message should contain.
+SingleFailureChecker:: SingleFailureChecker(
+ const TestPartResultArray* results,
+ TestPartResult::Type type,
+ const string& substr)
+ : results_(results),
+ type_(type),
+ substr_(substr) {}
+
+// The destructor of SingleFailureChecker verifies that the given
+// TestPartResultArray contains exactly one failure that has the given
+// type and contains the given substring. If that's not the case, a
+// non-fatal failure will be generated.
+SingleFailureChecker::~SingleFailureChecker() {
+ EXPECT_PRED_FORMAT3(HasOneFailure, *results_, type_, substr_);
+}
+
+DefaultGlobalTestPartResultReporter::DefaultGlobalTestPartResultReporter(
+ UnitTestImpl* unit_test) : unit_test_(unit_test) {}
+
+void DefaultGlobalTestPartResultReporter::ReportTestPartResult(
+ const TestPartResult& result) {
+ unit_test_->current_test_result()->AddTestPartResult(result);
+ unit_test_->listeners()->repeater()->OnTestPartResult(result);
+}
+
+DefaultPerThreadTestPartResultReporter::DefaultPerThreadTestPartResultReporter(
+ UnitTestImpl* unit_test) : unit_test_(unit_test) {}
+
+void DefaultPerThreadTestPartResultReporter::ReportTestPartResult(
+ const TestPartResult& result) {
+ unit_test_->GetGlobalTestPartResultReporter()->ReportTestPartResult(result);
+}
+
+// Returns the global test part result reporter.
+TestPartResultReporterInterface*
+UnitTestImpl::GetGlobalTestPartResultReporter() {
+ internal::MutexLock lock(&global_test_part_result_reporter_mutex_);
+ return global_test_part_result_repoter_;
+}
+
+// Sets the global test part result reporter.
+void UnitTestImpl::SetGlobalTestPartResultReporter(
+ TestPartResultReporterInterface* reporter) {
+ internal::MutexLock lock(&global_test_part_result_reporter_mutex_);
+ global_test_part_result_repoter_ = reporter;
+}
+
+// Returns the test part result reporter for the current thread.
+TestPartResultReporterInterface*
+UnitTestImpl::GetTestPartResultReporterForCurrentThread() {
+ return per_thread_test_part_result_reporter_.get();
+}
+
+// Sets the test part result reporter for the current thread.
+void UnitTestImpl::SetTestPartResultReporterForCurrentThread(
+ TestPartResultReporterInterface* reporter) {
+ per_thread_test_part_result_reporter_.set(reporter);
+}
+
+// Gets the number of successful test cases.
+int UnitTestImpl::successful_test_case_count() const {
+ return CountIf(test_cases_, TestCasePassed);
+}
+
+// Gets the number of failed test cases.
+int UnitTestImpl::failed_test_case_count() const {
+ return CountIf(test_cases_, TestCaseFailed);
+}
+
+// Gets the number of all test cases.
+int UnitTestImpl::total_test_case_count() const {
+ return static_cast<int>(test_cases_.size());
+}
+
+// Gets the number of all test cases that contain at least one test
+// that should run.
+int UnitTestImpl::test_case_to_run_count() const {
+ return CountIf(test_cases_, ShouldRunTestCase);
+}
+
+// Gets the number of successful tests.
+int UnitTestImpl::successful_test_count() const {
+ return SumOverTestCaseList(test_cases_, &TestCase::successful_test_count);
+}
+
+// Gets the number of failed tests.
+int UnitTestImpl::failed_test_count() const {
+ return SumOverTestCaseList(test_cases_, &TestCase::failed_test_count);
+}
+
+// Gets the number of disabled tests.
+int UnitTestImpl::disabled_test_count() const {
+ return SumOverTestCaseList(test_cases_, &TestCase::disabled_test_count);
+}
+
+// Gets the number of all tests.
+int UnitTestImpl::total_test_count() const {
+ return SumOverTestCaseList(test_cases_, &TestCase::total_test_count);
+}
+
+// Gets the number of tests that should run.
+int UnitTestImpl::test_to_run_count() const {
+ return SumOverTestCaseList(test_cases_, &TestCase::test_to_run_count);
+}
+
+// Returns the current OS stack trace as a String.
+//
+// The maximum number of stack frames to be included is specified by
+// the gtest_stack_trace_depth flag. The skip_count parameter
+// specifies the number of top frames to be skipped, which doesn't
+// count against the number of frames to be included.
+//
+// For example, if Foo() calls Bar(), which in turn calls
+// CurrentOsStackTraceExceptTop(1), Foo() will be included in the
+// trace but Bar() and CurrentOsStackTraceExceptTop() won't.
+String UnitTestImpl::CurrentOsStackTraceExceptTop(int skip_count) {
+ (void)skip_count;
+ return String("");
+}
+
+// Returns the current time in milliseconds.
+TimeInMillis GetTimeInMillis() {
+#if GTEST_OS_WINDOWS_MOBILE || defined(__BORLANDC__)
+ // Difference between 1970-01-01 and 1601-01-01 in milliseconds.
+ // http://analogous.blogspot.com/2005/04/epoch.html
+ const TimeInMillis kJavaEpochToWinFileTimeDelta =
+ static_cast<TimeInMillis>(116444736UL) * 100000UL;
+ const DWORD kTenthMicrosInMilliSecond = 10000;
+
+ SYSTEMTIME now_systime;
+ FILETIME now_filetime;
+ ULARGE_INTEGER now_int64;
+ // TODO(kenton@google.com): Shouldn't this just use
+ // GetSystemTimeAsFileTime()?
+ GetSystemTime(&now_systime);
+ if (SystemTimeToFileTime(&now_systime, &now_filetime)) {
+ now_int64.LowPart = now_filetime.dwLowDateTime;
+ now_int64.HighPart = now_filetime.dwHighDateTime;
+ now_int64.QuadPart = (now_int64.QuadPart / kTenthMicrosInMilliSecond) -
+ kJavaEpochToWinFileTimeDelta;
+ return now_int64.QuadPart;
+ }
+ return 0;
+#elif GTEST_OS_WINDOWS && !GTEST_HAS_GETTIMEOFDAY_
+ __timeb64 now;
+
+# ifdef _MSC_VER
+
+ // MSVC 8 deprecates _ftime64(), so we want to suppress warning 4996
+ // (deprecated function) there.
+ // TODO(kenton@google.com): Use GetTickCount()? Or use
+ // SystemTimeToFileTime()
+# pragma warning(push) // Saves the current warning state.
+# pragma warning(disable:4996) // Temporarily disables warning 4996.
+ _ftime64(&now);
+# pragma warning(pop) // Restores the warning state.
+# else
+
+ _ftime64(&now);
+
+# endif // _MSC_VER
+
+ return static_cast<TimeInMillis>(now.time) * 1000 + now.millitm;
+#elif GTEST_HAS_GETTIMEOFDAY_
+ struct timeval now;
+ gettimeofday(&now, NULL);
+ return static_cast<TimeInMillis>(now.tv_sec) * 1000 + now.tv_usec / 1000;
+#else
+# error "Don't know how to get the current time on your system."
+#endif
+}
+
+// Utilities
+
+// class String
+
+// Returns the input enclosed in double quotes if it's not NULL;
+// otherwise returns "(null)". For example, "\"Hello\"" is returned
+// for input "Hello".
+//
+// This is useful for printing a C string in the syntax of a literal.
+//
+// Known issue: escape sequences are not handled yet.
+String String::ShowCStringQuoted(const char* c_str) {
+ return c_str ? String::Format("\"%s\"", c_str) : String("(null)");
+}
+
+// Copies at most length characters from str into a newly-allocated
+// piece of memory of size length+1. The memory is allocated with new[].
+// A terminating null byte is written to the memory, and a pointer to it
+// is returned. If str is NULL, NULL is returned.
+static char* CloneString(const char* str, size_t length) {
+ if (str == NULL) {
+ return NULL;
+ } else {
+ char* const clone = new char[length + 1];
+ posix::StrNCpy(clone, str, length);
+ clone[length] = '\0';
+ return clone;
+ }
+}
+
+// Clones a 0-terminated C string, allocating memory using new. The
+// caller is responsible for deleting[] the return value. Returns the
+// cloned string, or NULL if the input is NULL.
+const char * String::CloneCString(const char* c_str) {
+ return (c_str == NULL) ?
+ NULL : CloneString(c_str, strlen(c_str));
+}
+
+#if GTEST_OS_WINDOWS_MOBILE
+// Creates a UTF-16 wide string from the given ANSI string, allocating
+// memory using new. The caller is responsible for deleting the return
+// value using delete[]. Returns the wide string, or NULL if the
+// input is NULL.
+LPCWSTR String::AnsiToUtf16(const char* ansi) {
+ if (!ansi) return NULL;
+ const int length = strlen(ansi);
+ const int unicode_length =
+ MultiByteToWideChar(CP_ACP, 0, ansi, length,
+ NULL, 0);
+ WCHAR* unicode = new WCHAR[unicode_length + 1];
+ MultiByteToWideChar(CP_ACP, 0, ansi, length,
+ unicode, unicode_length);
+ unicode[unicode_length] = 0;
+ return unicode;
+}
+
+// Creates an ANSI string from the given wide string, allocating
+// memory using new. The caller is responsible for deleting the return
+// value using delete[]. Returns the ANSI string, or NULL if the
+// input is NULL.
+const char* String::Utf16ToAnsi(LPCWSTR utf16_str) {
+ if (!utf16_str) return NULL;
+ const int ansi_length =
+ WideCharToMultiByte(CP_ACP, 0, utf16_str, -1,
+ NULL, 0, NULL, NULL);
+ char* ansi = new char[ansi_length + 1];
+ WideCharToMultiByte(CP_ACP, 0, utf16_str, -1,
+ ansi, ansi_length, NULL, NULL);
+ ansi[ansi_length] = 0;
+ return ansi;
+}
+
+#endif // GTEST_OS_WINDOWS_MOBILE
+
+// Compares two C strings. Returns true iff they have the same content.
+//
+// Unlike strcmp(), this function can handle NULL argument(s). A NULL
+// C string is considered different to any non-NULL C string,
+// including the empty string.
+bool String::CStringEquals(const char * lhs, const char * rhs) {
+ if ( lhs == NULL ) return rhs == NULL;
+
+ if ( rhs == NULL ) return false;
+
+ return strcmp(lhs, rhs) == 0;
+}
+
+#if GTEST_HAS_STD_WSTRING || GTEST_HAS_GLOBAL_WSTRING
+
+// Converts an array of wide chars to a narrow string using the UTF-8
+// encoding, and streams the result to the given Message object.
+static void StreamWideCharsToMessage(const wchar_t* wstr, size_t length,
+ Message* msg) {
+ // TODO(wan): consider allowing a testing::String object to
+ // contain '\0'. This will make it behave more like std::string,
+ // and will allow ToUtf8String() to return the correct encoding
+ // for '\0' s.t. we can get rid of the conditional here (and in
+ // several other places).
+ for (size_t i = 0; i != length; ) { // NOLINT
+ if (wstr[i] != L'\0') {
+ *msg << WideStringToUtf8(wstr + i, static_cast<int>(length - i));
+ while (i != length && wstr[i] != L'\0')
+ i++;
+ } else {
+ *msg << '\0';
+ i++;
+ }
+ }
+}
+
+#endif // GTEST_HAS_STD_WSTRING || GTEST_HAS_GLOBAL_WSTRING
+
+} // namespace internal
+
+#if GTEST_HAS_STD_WSTRING
+// Converts the given wide string to a narrow string using the UTF-8
+// encoding, and streams the result to this Message object.
+Message& Message::operator <<(const ::std::wstring& wstr) {
+ internal::StreamWideCharsToMessage(wstr.c_str(), wstr.length(), this);
+ return *this;
+}
+#endif // GTEST_HAS_STD_WSTRING
+
+#if GTEST_HAS_GLOBAL_WSTRING
+// Converts the given wide string to a narrow string using the UTF-8
+// encoding, and streams the result to this Message object.
+Message& Message::operator <<(const ::wstring& wstr) {
+ internal::StreamWideCharsToMessage(wstr.c_str(), wstr.length(), this);
+ return *this;
+}
+#endif // GTEST_HAS_GLOBAL_WSTRING
+
+// AssertionResult constructors.
+// Used in EXPECT_TRUE/FALSE(assertion_result).
+AssertionResult::AssertionResult(const AssertionResult& other)
+ : success_(other.success_),
+ message_(other.message_.get() != NULL ?
+ new ::std::string(*other.message_) :
+ static_cast< ::std::string*>(NULL)) {
+}
+
+// Returns the assertion's negation. Used with EXPECT/ASSERT_FALSE.
+AssertionResult AssertionResult::operator!() const {
+ AssertionResult negation(!success_);
+ if (message_.get() != NULL)
+ negation << *message_;
+ return negation;
+}
+
+// Makes a successful assertion result.
+AssertionResult AssertionSuccess() {
+ return AssertionResult(true);
+}
+
+// Makes a failed assertion result.
+AssertionResult AssertionFailure() {
+ return AssertionResult(false);
+}
+
+// Makes a failed assertion result with the given failure message.
+// Deprecated; use AssertionFailure() << message.
+AssertionResult AssertionFailure(const Message& message) {
+ return AssertionFailure() << message;
+}
+
+namespace internal {
+
+// Constructs and returns the message for an equality assertion
+// (e.g. ASSERT_EQ, EXPECT_STREQ, etc) failure.
+//
+// The first four parameters are the expressions used in the assertion
+// and their values, as strings. For example, for ASSERT_EQ(foo, bar)
+// where foo is 5 and bar is 6, we have:
+//
+// expected_expression: "foo"
+// actual_expression: "bar"
+// expected_value: "5"
+// actual_value: "6"
+//
+// The ignoring_case parameter is true iff the assertion is a
+// *_STRCASEEQ*. When it's true, the string " (ignoring case)" will
+// be inserted into the message.
+AssertionResult EqFailure(const char* expected_expression,
+ const char* actual_expression,
+ const String& expected_value,
+ const String& actual_value,
+ bool ignoring_case) {
+ Message msg;
+ msg << "Value of: " << actual_expression;
+ if (actual_value != actual_expression) {
+ msg << "\n Actual: " << actual_value;
+ }
+
+ msg << "\nExpected: " << expected_expression;
+ if (ignoring_case) {
+ msg << " (ignoring case)";
+ }
+ if (expected_value != expected_expression) {
+ msg << "\nWhich is: " << expected_value;
+ }
+
+ return AssertionFailure() << msg;
+}
+
+// Constructs a failure message for Boolean assertions such as EXPECT_TRUE.
+String GetBoolAssertionFailureMessage(const AssertionResult& assertion_result,
+ const char* expression_text,
+ const char* actual_predicate_value,
+ const char* expected_predicate_value) {
+ const char* actual_message = assertion_result.message();
+ Message msg;
+ msg << "Value of: " << expression_text
+ << "\n Actual: " << actual_predicate_value;
+ if (actual_message[0] != '\0')
+ msg << " (" << actual_message << ")";
+ msg << "\nExpected: " << expected_predicate_value;
+ return msg.GetString();
+}
+
+// Helper function for implementing ASSERT_NEAR.
+AssertionResult DoubleNearPredFormat(const char* expr1,
+ const char* expr2,
+ const char* abs_error_expr,
+ double val1,
+ double val2,
+ double abs_error) {
+ const double diff = fabs(val1 - val2);
+ if (diff <= abs_error) return AssertionSuccess();
+
+ // TODO(wan): do not print the value of an expression if it's
+ // already a literal.
+ return AssertionFailure()
+ << "The difference between " << expr1 << " and " << expr2
+ << " is " << diff << ", which exceeds " << abs_error_expr << ", where\n"
+ << expr1 << " evaluates to " << val1 << ",\n"
+ << expr2 << " evaluates to " << val2 << ", and\n"
+ << abs_error_expr << " evaluates to " << abs_error << ".";
+}
+
+
+// Helper template for implementing FloatLE() and DoubleLE().
+template <typename RawType>
+AssertionResult FloatingPointLE(const char* expr1,
+ const char* expr2,
+ RawType val1,
+ RawType val2) {
+ // Returns success if val1 is less than val2,
+ if (val1 < val2) {
+ return AssertionSuccess();
+ }
+
+ // or if val1 is almost equal to val2.
+ const FloatingPoint<RawType> lhs(val1), rhs(val2);
+ if (lhs.AlmostEquals(rhs)) {
+ return AssertionSuccess();
+ }
+
+ // Note that the above two checks will both fail if either val1 or
+ // val2 is NaN, as the IEEE floating-point standard requires that
+ // any predicate involving a NaN must return false.
+
+ ::std::stringstream val1_ss;
+ val1_ss << std::setprecision(std::numeric_limits<RawType>::digits10 + 2)
+ << val1;
+
+ ::std::stringstream val2_ss;
+ val2_ss << std::setprecision(std::numeric_limits<RawType>::digits10 + 2)
+ << val2;
+
+ return AssertionFailure()
+ << "Expected: (" << expr1 << ") <= (" << expr2 << ")\n"
+ << " Actual: " << StringStreamToString(&val1_ss) << " vs "
+ << StringStreamToString(&val2_ss);
+}
+
+} // namespace internal
+
+// Asserts that val1 is less than, or almost equal to, val2. Fails
+// otherwise. In particular, it fails if either val1 or val2 is NaN.
+AssertionResult FloatLE(const char* expr1, const char* expr2,
+ float val1, float val2) {
+ return internal::FloatingPointLE<float>(expr1, expr2, val1, val2);
+}
+
+// Asserts that val1 is less than, or almost equal to, val2. Fails
+// otherwise. In particular, it fails if either val1 or val2 is NaN.
+AssertionResult DoubleLE(const char* expr1, const char* expr2,
+ double val1, double val2) {
+ return internal::FloatingPointLE<double>(expr1, expr2, val1, val2);
+}
+
+namespace internal {
+
+// The helper function for {ASSERT|EXPECT}_EQ with int or enum
+// arguments.
+AssertionResult CmpHelperEQ(const char* expected_expression,
+ const char* actual_expression,
+ BiggestInt expected,
+ BiggestInt actual) {
+ if (expected == actual) {
+ return AssertionSuccess();
+ }
+
+ return EqFailure(expected_expression,
+ actual_expression,
+ FormatForComparisonFailureMessage(expected, actual),
+ FormatForComparisonFailureMessage(actual, expected),
+ false);
+}
+
+// A macro for implementing the helper functions needed to implement
+// ASSERT_?? and EXPECT_?? with integer or enum arguments. It is here
+// just to avoid copy-and-paste of similar code.
+#define GTEST_IMPL_CMP_HELPER_(op_name, op)\
+AssertionResult CmpHelper##op_name(const char* expr1, const char* expr2, \
+ BiggestInt val1, BiggestInt val2) {\
+ if (val1 op val2) {\
+ return AssertionSuccess();\
+ } else {\
+ return AssertionFailure() \
+ << "Expected: (" << expr1 << ") " #op " (" << expr2\
+ << "), actual: " << FormatForComparisonFailureMessage(val1, val2)\
+ << " vs " << FormatForComparisonFailureMessage(val2, val1);\
+ }\
+}
+
+// Implements the helper function for {ASSERT|EXPECT}_NE with int or
+// enum arguments.
+GTEST_IMPL_CMP_HELPER_(NE, !=)
+// Implements the helper function for {ASSERT|EXPECT}_LE with int or
+// enum arguments.
+GTEST_IMPL_CMP_HELPER_(LE, <=)
+// Implements the helper function for {ASSERT|EXPECT}_LT with int or
+// enum arguments.
+GTEST_IMPL_CMP_HELPER_(LT, < )
+// Implements the helper function for {ASSERT|EXPECT}_GE with int or
+// enum arguments.
+GTEST_IMPL_CMP_HELPER_(GE, >=)
+// Implements the helper function for {ASSERT|EXPECT}_GT with int or
+// enum arguments.
+GTEST_IMPL_CMP_HELPER_(GT, > )
+
+#undef GTEST_IMPL_CMP_HELPER_
+
+// The helper function for {ASSERT|EXPECT}_STREQ.
+AssertionResult CmpHelperSTREQ(const char* expected_expression,
+ const char* actual_expression,
+ const char* expected,
+ const char* actual) {
+ if (String::CStringEquals(expected, actual)) {
+ return AssertionSuccess();
+ }
+
+ return EqFailure(expected_expression,
+ actual_expression,
+ String::ShowCStringQuoted(expected),
+ String::ShowCStringQuoted(actual),
+ false);
+}
+
+// The helper function for {ASSERT|EXPECT}_STRCASEEQ.
+AssertionResult CmpHelperSTRCASEEQ(const char* expected_expression,
+ const char* actual_expression,
+ const char* expected,
+ const char* actual) {
+ if (String::CaseInsensitiveCStringEquals(expected, actual)) {
+ return AssertionSuccess();
+ }
+
+ return EqFailure(expected_expression,
+ actual_expression,
+ String::ShowCStringQuoted(expected),
+ String::ShowCStringQuoted(actual),
+ true);
+}
+
+// The helper function for {ASSERT|EXPECT}_STRNE.
+AssertionResult CmpHelperSTRNE(const char* s1_expression,
+ const char* s2_expression,
+ const char* s1,
+ const char* s2) {
+ if (!String::CStringEquals(s1, s2)) {
+ return AssertionSuccess();
+ } else {
+ return AssertionFailure() << "Expected: (" << s1_expression << ") != ("
+ << s2_expression << "), actual: \""
+ << s1 << "\" vs \"" << s2 << "\"";
+ }
+}
+
+// The helper function for {ASSERT|EXPECT}_STRCASENE.
+AssertionResult CmpHelperSTRCASENE(const char* s1_expression,
+ const char* s2_expression,
+ const char* s1,
+ const char* s2) {
+ if (!String::CaseInsensitiveCStringEquals(s1, s2)) {
+ return AssertionSuccess();
+ } else {
+ return AssertionFailure()
+ << "Expected: (" << s1_expression << ") != ("
+ << s2_expression << ") (ignoring case), actual: \""
+ << s1 << "\" vs \"" << s2 << "\"";
+ }
+}
+
+} // namespace internal
+
+namespace {
+
+// Helper functions for implementing IsSubString() and IsNotSubstring().
+
+// This group of overloaded functions return true iff needle is a
+// substring of haystack. NULL is considered a substring of itself
+// only.
+
+bool IsSubstringPred(const char* needle, const char* haystack) {
+ if (needle == NULL || haystack == NULL)
+ return needle == haystack;
+
+ return strstr(haystack, needle) != NULL;
+}
+
+bool IsSubstringPred(const wchar_t* needle, const wchar_t* haystack) {
+ if (needle == NULL || haystack == NULL)
+ return needle == haystack;
+
+ return wcsstr(haystack, needle) != NULL;
+}
+
+// StringType here can be either ::std::string or ::std::wstring.
+template <typename StringType>
+bool IsSubstringPred(const StringType& needle,
+ const StringType& haystack) {
+ return haystack.find(needle) != StringType::npos;
+}
+
+// This function implements either IsSubstring() or IsNotSubstring(),
+// depending on the value of the expected_to_be_substring parameter.
+// StringType here can be const char*, const wchar_t*, ::std::string,
+// or ::std::wstring.
+template <typename StringType>
+AssertionResult IsSubstringImpl(
+ bool expected_to_be_substring,
+ const char* needle_expr, const char* haystack_expr,
+ const StringType& needle, const StringType& haystack) {
+ if (IsSubstringPred(needle, haystack) == expected_to_be_substring)
+ return AssertionSuccess();
+
+ const bool is_wide_string = sizeof(needle[0]) > 1;
+ const char* const begin_string_quote = is_wide_string ? "L\"" : "\"";
+ return AssertionFailure()
+ << "Value of: " << needle_expr << "\n"
+ << " Actual: " << begin_string_quote << needle << "\"\n"
+ << "Expected: " << (expected_to_be_substring ? "" : "not ")
+ << "a substring of " << haystack_expr << "\n"
+ << "Which is: " << begin_string_quote << haystack << "\"";
+}
+
+} // namespace
+
+// IsSubstring() and IsNotSubstring() check whether needle is a
+// substring of haystack (NULL is considered a substring of itself
+// only), and return an appropriate error message when they fail.
+
+AssertionResult IsSubstring(
+ const char* needle_expr, const char* haystack_expr,
+ const char* needle, const char* haystack) {
+ return IsSubstringImpl(true, needle_expr, haystack_expr, needle, haystack);
+}
+
+AssertionResult IsSubstring(
+ const char* needle_expr, const char* haystack_expr,
+ const wchar_t* needle, const wchar_t* haystack) {
+ return IsSubstringImpl(true, needle_expr, haystack_expr, needle, haystack);
+}
+
+AssertionResult IsNotSubstring(
+ const char* needle_expr, const char* haystack_expr,
+ const char* needle, const char* haystack) {
+ return IsSubstringImpl(false, needle_expr, haystack_expr, needle, haystack);
+}
+
+AssertionResult IsNotSubstring(
+ const char* needle_expr, const char* haystack_expr,
+ const wchar_t* needle, const wchar_t* haystack) {
+ return IsSubstringImpl(false, needle_expr, haystack_expr, needle, haystack);
+}
+
+AssertionResult IsSubstring(
+ const char* needle_expr, const char* haystack_expr,
+ const ::std::string& needle, const ::std::string& haystack) {
+ return IsSubstringImpl(true, needle_expr, haystack_expr, needle, haystack);
+}
+
+AssertionResult IsNotSubstring(
+ const char* needle_expr, const char* haystack_expr,
+ const ::std::string& needle, const ::std::string& haystack) {
+ return IsSubstringImpl(false, needle_expr, haystack_expr, needle, haystack);
+}
+
+#if GTEST_HAS_STD_WSTRING
+AssertionResult IsSubstring(
+ const char* needle_expr, const char* haystack_expr,
+ const ::std::wstring& needle, const ::std::wstring& haystack) {
+ return IsSubstringImpl(true, needle_expr, haystack_expr, needle, haystack);
+}
+
+AssertionResult IsNotSubstring(
+ const char* needle_expr, const char* haystack_expr,
+ const ::std::wstring& needle, const ::std::wstring& haystack) {
+ return IsSubstringImpl(false, needle_expr, haystack_expr, needle, haystack);
+}
+#endif // GTEST_HAS_STD_WSTRING
+
+namespace internal {
+
+#if GTEST_OS_WINDOWS
+
+namespace {
+
+// Helper function for IsHRESULT{SuccessFailure} predicates
+AssertionResult HRESULTFailureHelper(const char* expr,
+ const char* expected,
+ long hr) { // NOLINT
+# if GTEST_OS_WINDOWS_MOBILE
+
+ // Windows CE doesn't support FormatMessage.
+ const char error_text[] = "";
+
+# else
+
+ // Looks up the human-readable system message for the HRESULT code
+ // and since we're not passing any params to FormatMessage, we don't
+ // want inserts expanded.
+ const DWORD kFlags = FORMAT_MESSAGE_FROM_SYSTEM |
+ FORMAT_MESSAGE_IGNORE_INSERTS;
+ const DWORD kBufSize = 4096; // String::Format can't exceed this length.
+ // Gets the system's human readable message string for this HRESULT.
+ char error_text[kBufSize] = { '\0' };
+ DWORD message_length = ::FormatMessageA(kFlags,
+ 0, // no source, we're asking system
+ hr, // the error
+ 0, // no line width restrictions
+ error_text, // output buffer
+ kBufSize, // buf size
+ NULL); // no arguments for inserts
+ // Trims tailing white space (FormatMessage leaves a trailing cr-lf)
+ for (; message_length && IsSpace(error_text[message_length - 1]);
+ --message_length) {
+ error_text[message_length - 1] = '\0';
+ }
+
+# endif // GTEST_OS_WINDOWS_MOBILE
+
+ const String error_hex(String::Format("0x%08X ", hr));
+ return ::testing::AssertionFailure()
+ << "Expected: " << expr << " " << expected << ".\n"
+ << " Actual: " << error_hex << error_text << "\n";
+}
+
+} // namespace
+
+AssertionResult IsHRESULTSuccess(const char* expr, long hr) { // NOLINT
+ if (SUCCEEDED(hr)) {
+ return AssertionSuccess();
+ }
+ return HRESULTFailureHelper(expr, "succeeds", hr);
+}
+
+AssertionResult IsHRESULTFailure(const char* expr, long hr) { // NOLINT
+ if (FAILED(hr)) {
+ return AssertionSuccess();
+ }
+ return HRESULTFailureHelper(expr, "fails", hr);
+}
+
+#endif // GTEST_OS_WINDOWS
+
+// Utility functions for encoding Unicode text (wide strings) in
+// UTF-8.
+
+// A Unicode code-point can have upto 21 bits, and is encoded in UTF-8
+// like this:
+//
+// Code-point length Encoding
+// 0 - 7 bits 0xxxxxxx
+// 8 - 11 bits 110xxxxx 10xxxxxx
+// 12 - 16 bits 1110xxxx 10xxxxxx 10xxxxxx
+// 17 - 21 bits 11110xxx 10xxxxxx 10xxxxxx 10xxxxxx
+
+// The maximum code-point a one-byte UTF-8 sequence can represent.
+const UInt32 kMaxCodePoint1 = (static_cast<UInt32>(1) << 7) - 1;
+
+// The maximum code-point a two-byte UTF-8 sequence can represent.
+const UInt32 kMaxCodePoint2 = (static_cast<UInt32>(1) << (5 + 6)) - 1;
+
+// The maximum code-point a three-byte UTF-8 sequence can represent.
+const UInt32 kMaxCodePoint3 = (static_cast<UInt32>(1) << (4 + 2*6)) - 1;
+
+// The maximum code-point a four-byte UTF-8 sequence can represent.
+const UInt32 kMaxCodePoint4 = (static_cast<UInt32>(1) << (3 + 3*6)) - 1;
+
+// Chops off the n lowest bits from a bit pattern. Returns the n
+// lowest bits. As a side effect, the original bit pattern will be
+// shifted to the right by n bits.
+inline UInt32 ChopLowBits(UInt32* bits, int n) {
+ const UInt32 low_bits = *bits & ((static_cast<UInt32>(1) << n) - 1);
+ *bits >>= n;
+ return low_bits;
+}
+
+// Converts a Unicode code point to a narrow string in UTF-8 encoding.
+// code_point parameter is of type UInt32 because wchar_t may not be
+// wide enough to contain a code point.
+// The output buffer str must containt at least 32 characters.
+// The function returns the address of the output buffer.
+// If the code_point is not a valid Unicode code point
+// (i.e. outside of Unicode range U+0 to U+10FFFF) it will be output
+// as '(Invalid Unicode 0xXXXXXXXX)'.
+char* CodePointToUtf8(UInt32 code_point, char* str) {
+ if (code_point <= kMaxCodePoint1) {
+ str[1] = '\0';
+ str[0] = static_cast<char>(code_point); // 0xxxxxxx
+ } else if (code_point <= kMaxCodePoint2) {
+ str[2] = '\0';
+ str[1] = static_cast<char>(0x80 | ChopLowBits(&code_point, 6)); // 10xxxxxx
+ str[0] = static_cast<char>(0xC0 | code_point); // 110xxxxx
+ } else if (code_point <= kMaxCodePoint3) {
+ str[3] = '\0';
+ str[2] = static_cast<char>(0x80 | ChopLowBits(&code_point, 6)); // 10xxxxxx
+ str[1] = static_cast<char>(0x80 | ChopLowBits(&code_point, 6)); // 10xxxxxx
+ str[0] = static_cast<char>(0xE0 | code_point); // 1110xxxx
+ } else if (code_point <= kMaxCodePoint4) {
+ str[4] = '\0';
+ str[3] = static_cast<char>(0x80 | ChopLowBits(&code_point, 6)); // 10xxxxxx
+ str[2] = static_cast<char>(0x80 | ChopLowBits(&code_point, 6)); // 10xxxxxx
+ str[1] = static_cast<char>(0x80 | ChopLowBits(&code_point, 6)); // 10xxxxxx
+ str[0] = static_cast<char>(0xF0 | code_point); // 11110xxx
+ } else {
+ // The longest string String::Format can produce when invoked
+ // with these parameters is 28 character long (not including
+ // the terminating nul character). We are asking for 32 character
+ // buffer just in case. This is also enough for strncpy to
+ // null-terminate the destination string.
+ posix::StrNCpy(
+ str, String::Format("(Invalid Unicode 0x%X)", code_point).c_str(), 32);
+ str[31] = '\0'; // Makes sure no change in the format to strncpy leaves
+ // the result unterminated.
+ }
+ return str;
+}
+
+// The following two functions only make sense if the the system
+// uses UTF-16 for wide string encoding. All supported systems
+// with 16 bit wchar_t (Windows, Cygwin, Symbian OS) do use UTF-16.
+
+// Determines if the arguments constitute UTF-16 surrogate pair
+// and thus should be combined into a single Unicode code point
+// using CreateCodePointFromUtf16SurrogatePair.
+inline bool IsUtf16SurrogatePair(wchar_t first, wchar_t second) {
+ return sizeof(wchar_t) == 2 &&
+ (first & 0xFC00) == 0xD800 && (second & 0xFC00) == 0xDC00;
+}
+
+// Creates a Unicode code point from UTF16 surrogate pair.
+inline UInt32 CreateCodePointFromUtf16SurrogatePair(wchar_t first,
+ wchar_t second) {
+ const UInt32 mask = (1 << 10) - 1;
+ return (sizeof(wchar_t) == 2) ?
+ (((first & mask) << 10) | (second & mask)) + 0x10000 :
+ // This function should not be called when the condition is
+ // false, but we provide a sensible default in case it is.
+ static_cast<UInt32>(first);
+}
+
+// Converts a wide string to a narrow string in UTF-8 encoding.
+// The wide string is assumed to have the following encoding:
+// UTF-16 if sizeof(wchar_t) == 2 (on Windows, Cygwin, Symbian OS)
+// UTF-32 if sizeof(wchar_t) == 4 (on Linux)
+// Parameter str points to a null-terminated wide string.
+// Parameter num_chars may additionally limit the number
+// of wchar_t characters processed. -1 is used when the entire string
+// should be processed.
+// If the string contains code points that are not valid Unicode code points
+// (i.e. outside of Unicode range U+0 to U+10FFFF) they will be output
+// as '(Invalid Unicode 0xXXXXXXXX)'. If the string is in UTF16 encoding
+// and contains invalid UTF-16 surrogate pairs, values in those pairs
+// will be encoded as individual Unicode characters from Basic Normal Plane.
+String WideStringToUtf8(const wchar_t* str, int num_chars) {
+ if (num_chars == -1)
+ num_chars = static_cast<int>(wcslen(str));
+
+ ::std::stringstream stream;
+ for (int i = 0; i < num_chars; ++i) {
+ UInt32 unicode_code_point;
+
+ if (str[i] == L'\0') {
+ break;
+ } else if (i + 1 < num_chars && IsUtf16SurrogatePair(str[i], str[i + 1])) {
+ unicode_code_point = CreateCodePointFromUtf16SurrogatePair(str[i],
+ str[i + 1]);
+ i++;
+ } else {
+ unicode_code_point = static_cast<UInt32>(str[i]);
+ }
+
+ char buffer[32]; // CodePointToUtf8 requires a buffer this big.
+ stream << CodePointToUtf8(unicode_code_point, buffer);
+ }
+ return StringStreamToString(&stream);
+}
+
+// Converts a wide C string to a String using the UTF-8 encoding.
+// NULL will be converted to "(null)".
+String String::ShowWideCString(const wchar_t * wide_c_str) {
+ if (wide_c_str == NULL) return String("(null)");
+
+ return String(internal::WideStringToUtf8(wide_c_str, -1).c_str());
+}
+
+// Similar to ShowWideCString(), except that this function encloses
+// the converted string in double quotes.
+String String::ShowWideCStringQuoted(const wchar_t* wide_c_str) {
+ if (wide_c_str == NULL) return String("(null)");
+
+ return String::Format("L\"%s\"",
+ String::ShowWideCString(wide_c_str).c_str());
+}
+
+// Compares two wide C strings. Returns true iff they have the same
+// content.
+//
+// Unlike wcscmp(), this function can handle NULL argument(s). A NULL
+// C string is considered different to any non-NULL C string,
+// including the empty string.
+bool String::WideCStringEquals(const wchar_t * lhs, const wchar_t * rhs) {
+ if (lhs == NULL) return rhs == NULL;
+
+ if (rhs == NULL) return false;
+
+ return wcscmp(lhs, rhs) == 0;
+}
+
+// Helper function for *_STREQ on wide strings.
+AssertionResult CmpHelperSTREQ(const char* expected_expression,
+ const char* actual_expression,
+ const wchar_t* expected,
+ const wchar_t* actual) {
+ if (String::WideCStringEquals(expected, actual)) {
+ return AssertionSuccess();
+ }
+
+ return EqFailure(expected_expression,
+ actual_expression,
+ String::ShowWideCStringQuoted(expected),
+ String::ShowWideCStringQuoted(actual),
+ false);
+}
+
+// Helper function for *_STRNE on wide strings.
+AssertionResult CmpHelperSTRNE(const char* s1_expression,
+ const char* s2_expression,
+ const wchar_t* s1,
+ const wchar_t* s2) {
+ if (!String::WideCStringEquals(s1, s2)) {
+ return AssertionSuccess();
+ }
+
+ return AssertionFailure() << "Expected: (" << s1_expression << ") != ("
+ << s2_expression << "), actual: "
+ << String::ShowWideCStringQuoted(s1)
+ << " vs " << String::ShowWideCStringQuoted(s2);
+}
+
+// Compares two C strings, ignoring case. Returns true iff they have
+// the same content.
+//
+// Unlike strcasecmp(), this function can handle NULL argument(s). A
+// NULL C string is considered different to any non-NULL C string,
+// including the empty string.
+bool String::CaseInsensitiveCStringEquals(const char * lhs, const char * rhs) {
+ if (lhs == NULL)
+ return rhs == NULL;
+ if (rhs == NULL)
+ return false;
+ return posix::StrCaseCmp(lhs, rhs) == 0;
+}
+
+ // Compares two wide C strings, ignoring case. Returns true iff they
+ // have the same content.
+ //
+ // Unlike wcscasecmp(), this function can handle NULL argument(s).
+ // A NULL C string is considered different to any non-NULL wide C string,
+ // including the empty string.
+ // NB: The implementations on different platforms slightly differ.
+ // On windows, this method uses _wcsicmp which compares according to LC_CTYPE
+ // environment variable. On GNU platform this method uses wcscasecmp
+ // which compares according to LC_CTYPE category of the current locale.
+ // On MacOS X, it uses towlower, which also uses LC_CTYPE category of the
+ // current locale.
+bool String::CaseInsensitiveWideCStringEquals(const wchar_t* lhs,
+ const wchar_t* rhs) {
+ if (lhs == NULL) return rhs == NULL;
+
+ if (rhs == NULL) return false;
+
+#if GTEST_OS_WINDOWS
+ return _wcsicmp(lhs, rhs) == 0;
+#elif GTEST_OS_LINUX && !GTEST_OS_LINUX_ANDROID
+ return wcscasecmp(lhs, rhs) == 0;
+#else
+ // Android, Mac OS X and Cygwin don't define wcscasecmp.
+ // Other unknown OSes may not define it either.
+ wint_t left, right;
+ do {
+ left = towlower(*lhs++);
+ right = towlower(*rhs++);
+ } while (left && left == right);
+ return left == right;
+#endif // OS selector
+}
+
+// Compares this with another String.
+// Returns < 0 if this is less than rhs, 0 if this is equal to rhs, or > 0
+// if this is greater than rhs.
+int String::Compare(const String & rhs) const {
+ const char* const lhs_c_str = c_str();
+ const char* const rhs_c_str = rhs.c_str();
+
+ if (lhs_c_str == NULL) {
+ return rhs_c_str == NULL ? 0 : -1; // NULL < anything except NULL
+ } else if (rhs_c_str == NULL) {
+ return 1;
+ }
+
+ const size_t shorter_str_len =
+ length() <= rhs.length() ? length() : rhs.length();
+ for (size_t i = 0; i != shorter_str_len; i++) {
+ if (lhs_c_str[i] < rhs_c_str[i]) {
+ return -1;
+ } else if (lhs_c_str[i] > rhs_c_str[i]) {
+ return 1;
+ }
+ }
+ return (length() < rhs.length()) ? -1 :
+ (length() > rhs.length()) ? 1 : 0;
+}
+
+// Returns true iff this String ends with the given suffix. *Any*
+// String is considered to end with a NULL or empty suffix.
+bool String::EndsWith(const char* suffix) const {
+ if (suffix == NULL || CStringEquals(suffix, "")) return true;
+
+ if (c_str() == NULL) return false;
+
+ const size_t this_len = strlen(c_str());
+ const size_t suffix_len = strlen(suffix);
+ return (this_len >= suffix_len) &&
+ CStringEquals(c_str() + this_len - suffix_len, suffix);
+}
+
+// Returns true iff this String ends with the given suffix, ignoring case.
+// Any String is considered to end with a NULL or empty suffix.
+bool String::EndsWithCaseInsensitive(const char* suffix) const {
+ if (suffix == NULL || CStringEquals(suffix, "")) return true;
+
+ if (c_str() == NULL) return false;
+
+ const size_t this_len = strlen(c_str());
+ const size_t suffix_len = strlen(suffix);
+ return (this_len >= suffix_len) &&
+ CaseInsensitiveCStringEquals(c_str() + this_len - suffix_len, suffix);
+}
+
+// Formats a list of arguments to a String, using the same format
+// spec string as for printf.
+//
+// We do not use the StringPrintf class as it is not universally
+// available.
+//
+// The result is limited to 4096 characters (including the tailing 0).
+// If 4096 characters are not enough to format the input, or if
+// there's an error, "<formatting error or buffer exceeded>" is
+// returned.
+String String::Format(const char * format, ...) {
+ va_list args;
+ va_start(args, format);
+
+ char buffer[4096];
+ const int kBufferSize = sizeof(buffer)/sizeof(buffer[0]);
+
+ // MSVC 8 deprecates vsnprintf(), so we want to suppress warning
+ // 4996 (deprecated function) there.
+#ifdef _MSC_VER // We are using MSVC.
+# pragma warning(push) // Saves the current warning state.
+# pragma warning(disable:4996) // Temporarily disables warning 4996.
+
+ const int size = vsnprintf(buffer, kBufferSize, format, args);
+
+# pragma warning(pop) // Restores the warning state.
+#else // We are not using MSVC.
+ const int size = vsnprintf(buffer, kBufferSize, format, args);
+#endif // _MSC_VER
+ va_end(args);
+
+ // vsnprintf()'s behavior is not portable. When the buffer is not
+ // big enough, it returns a negative value in MSVC, and returns the
+ // needed buffer size on Linux. When there is an output error, it
+ // always returns a negative value. For simplicity, we lump the two
+ // error cases together.
+ if (size < 0 || size >= kBufferSize) {
+ return String("<formatting error or buffer exceeded>");
+ } else {
+ return String(buffer, size);
+ }
+}
+
+// Converts the buffer in a stringstream to a String, converting NUL
+// bytes to "\\0" along the way.
+String StringStreamToString(::std::stringstream* ss) {
+ const ::std::string& str = ss->str();
+ const char* const start = str.c_str();
+ const char* const end = start + str.length();
+
+ // We need to use a helper stringstream to do this transformation
+ // because String doesn't support push_back().
+ ::std::stringstream helper;
+ for (const char* ch = start; ch != end; ++ch) {
+ if (*ch == '\0') {
+ helper << "\\0"; // Replaces NUL with "\\0";
+ } else {
+ helper.put(*ch);
+ }
+ }
+
+ return String(helper.str().c_str());
+}
+
+// Appends the user-supplied message to the Google-Test-generated message.
+String AppendUserMessage(const String& gtest_msg,
+ const Message& user_msg) {
+ // Appends the user message if it's non-empty.
+ const String user_msg_string = user_msg.GetString();
+ if (user_msg_string.empty()) {
+ return gtest_msg;
+ }
+
+ Message msg;
+ msg << gtest_msg << "\n" << user_msg_string;
+
+ return msg.GetString();
+}
+
+} // namespace internal
+
+// class TestResult
+
+// Creates an empty TestResult.
+TestResult::TestResult()
+ : death_test_count_(0),
+ elapsed_time_(0) {
+}
+
+// D'tor.
+TestResult::~TestResult() {
+}
+
+// Returns the i-th test part result among all the results. i can
+// range from 0 to total_part_count() - 1. If i is not in that range,
+// aborts the program.
+const TestPartResult& TestResult::GetTestPartResult(int i) const {
+ if (i < 0 || i >= total_part_count())
+ internal::posix::Abort();
+ return test_part_results_.at(i);
+}
+
+// Returns the i-th test property. i can range from 0 to
+// test_property_count() - 1. If i is not in that range, aborts the
+// program.
+const TestProperty& TestResult::GetTestProperty(int i) const {
+ if (i < 0 || i >= test_property_count())
+ internal::posix::Abort();
+ return test_properties_.at(i);
+}
+
+// Clears the test part results.
+void TestResult::ClearTestPartResults() {
+ test_part_results_.clear();
+}
+
+// Adds a test part result to the list.
+void TestResult::AddTestPartResult(const TestPartResult& test_part_result) {
+ test_part_results_.push_back(test_part_result);
+}
+
+// Adds a test property to the list. If a property with the same key as the
+// supplied property is already represented, the value of this test_property
+// replaces the old value for that key.
+void TestResult::RecordProperty(const TestProperty& test_property) {
+ if (!ValidateTestProperty(test_property)) {
+ return;
+ }
+ internal::MutexLock lock(&test_properites_mutex_);
+ const std::vector<TestProperty>::iterator property_with_matching_key =
+ std::find_if(test_properties_.begin(), test_properties_.end(),
+ internal::TestPropertyKeyIs(test_property.key()));
+ if (property_with_matching_key == test_properties_.end()) {
+ test_properties_.push_back(test_property);
+ return;
+ }
+ property_with_matching_key->SetValue(test_property.value());
+}
+
+// Adds a failure if the key is a reserved attribute of Google Test
+// testcase tags. Returns true if the property is valid.
+bool TestResult::ValidateTestProperty(const TestProperty& test_property) {
+ internal::String key(test_property.key());
+ if (key == "name" || key == "status" || key == "time" || key == "classname") {
+ ADD_FAILURE()
+ << "Reserved key used in RecordProperty(): "
+ << key
+ << " ('name', 'status', 'time', and 'classname' are reserved by "
+ << GTEST_NAME_ << ")";
+ return false;
+ }
+ return true;
+}
+
+// Clears the object.
+void TestResult::Clear() {
+ test_part_results_.clear();
+ test_properties_.clear();
+ death_test_count_ = 0;
+ elapsed_time_ = 0;
+}
+
+// Returns true iff the test failed.
+bool TestResult::Failed() const {
+ for (int i = 0; i < total_part_count(); ++i) {
+ if (GetTestPartResult(i).failed())
+ return true;
+ }
+ return false;
+}
+
+// Returns true iff the test part fatally failed.
+static bool TestPartFatallyFailed(const TestPartResult& result) {
+ return result.fatally_failed();
+}
+
+// Returns true iff the test fatally failed.
+bool TestResult::HasFatalFailure() const {
+ return CountIf(test_part_results_, TestPartFatallyFailed) > 0;
+}
+
+// Returns true iff the test part non-fatally failed.
+static bool TestPartNonfatallyFailed(const TestPartResult& result) {
+ return result.nonfatally_failed();
+}
+
+// Returns true iff the test has a non-fatal failure.
+bool TestResult::HasNonfatalFailure() const {
+ return CountIf(test_part_results_, TestPartNonfatallyFailed) > 0;
+}
+
+// Gets the number of all test parts. This is the sum of the number
+// of successful test parts and the number of failed test parts.
+int TestResult::total_part_count() const {
+ return static_cast<int>(test_part_results_.size());
+}
+
+// Returns the number of the test properties.
+int TestResult::test_property_count() const {
+ return static_cast<int>(test_properties_.size());
+}
+
+// class Test
+
+// Creates a Test object.
+
+// The c'tor saves the values of all Google Test flags.
+Test::Test()
+ : gtest_flag_saver_(new internal::GTestFlagSaver) {
+}
+
+// The d'tor restores the values of all Google Test flags.
+Test::~Test() {
+ delete gtest_flag_saver_;
+}
+
+// Sets up the test fixture.
+//
+// A sub-class may override this.
+void Test::SetUp() {
+}
+
+// Tears down the test fixture.
+//
+// A sub-class may override this.
+void Test::TearDown() {
+}
+
+// Allows user supplied key value pairs to be recorded for later output.
+void Test::RecordProperty(const char* key, const char* value) {
+ UnitTest::GetInstance()->RecordPropertyForCurrentTest(key, value);
+}
+
+// Allows user supplied key value pairs to be recorded for later output.
+void Test::RecordProperty(const char* key, int value) {
+ Message value_message;
+ value_message << value;
+ RecordProperty(key, value_message.GetString().c_str());
+}
+
+namespace internal {
+
+void ReportFailureInUnknownLocation(TestPartResult::Type result_type,
+ const String& message) {
+ // This function is a friend of UnitTest and as such has access to
+ // AddTestPartResult.
+ UnitTest::GetInstance()->AddTestPartResult(
+ result_type,
+ NULL, // No info about the source file where the exception occurred.
+ -1, // We have no info on which line caused the exception.
+ message,
+ String()); // No stack trace, either.
+}
+
+} // namespace internal
+
+// Google Test requires all tests in the same test case to use the same test
+// fixture class. This function checks if the current test has the
+// same fixture class as the first test in the current test case. If
+// yes, it returns true; otherwise it generates a Google Test failure and
+// returns false.
+bool Test::HasSameFixtureClass() {
+ internal::UnitTestImpl* const impl = internal::GetUnitTestImpl();
+ const TestCase* const test_case = impl->current_test_case();
+
+ // Info about the first test in the current test case.
+ const TestInfo* const first_test_info = test_case->test_info_list()[0];
+ const internal::TypeId first_fixture_id = first_test_info->fixture_class_id_;
+ const char* const first_test_name = first_test_info->name();
+
+ // Info about the current test.
+ const TestInfo* const this_test_info = impl->current_test_info();
+ const internal::TypeId this_fixture_id = this_test_info->fixture_class_id_;
+ const char* const this_test_name = this_test_info->name();
+
+ if (this_fixture_id != first_fixture_id) {
+ // Is the first test defined using TEST?
+ const bool first_is_TEST = first_fixture_id == internal::GetTestTypeId();
+ // Is this test defined using TEST?
+ const bool this_is_TEST = this_fixture_id == internal::GetTestTypeId();
+
+ if (first_is_TEST || this_is_TEST) {
+ // The user mixed TEST and TEST_F in this test case - we'll tell
+ // him/her how to fix it.
+
+ // Gets the name of the TEST and the name of the TEST_F. Note
+ // that first_is_TEST and this_is_TEST cannot both be true, as
+ // the fixture IDs are different for the two tests.
+ const char* const TEST_name =
+ first_is_TEST ? first_test_name : this_test_name;
+ const char* const TEST_F_name =
+ first_is_TEST ? this_test_name : first_test_name;
+
+ ADD_FAILURE()
+ << "All tests in the same test case must use the same test fixture\n"
+ << "class, so mixing TEST_F and TEST in the same test case is\n"
+ << "illegal. In test case " << this_test_info->test_case_name()
+ << ",\n"
+ << "test " << TEST_F_name << " is defined using TEST_F but\n"
+ << "test " << TEST_name << " is defined using TEST. You probably\n"
+ << "want to change the TEST to TEST_F or move it to another test\n"
+ << "case.";
+ } else {
+ // The user defined two fixture classes with the same name in
+ // two namespaces - we'll tell him/her how to fix it.
+ ADD_FAILURE()
+ << "All tests in the same test case must use the same test fixture\n"
+ << "class. However, in test case "
+ << this_test_info->test_case_name() << ",\n"
+ << "you defined test " << first_test_name
+ << " and test " << this_test_name << "\n"
+ << "using two different test fixture classes. This can happen if\n"
+ << "the two classes are from different namespaces or translation\n"
+ << "units and have the same name. You should probably rename one\n"
+ << "of the classes to put the tests into different test cases.";
+ }
+ return false;
+ }
+
+ return true;
+}
+
+#if GTEST_HAS_SEH
+
+// Adds an "exception thrown" fatal failure to the current test. This
+// function returns its result via an output parameter pointer because VC++
+// prohibits creation of objects with destructors on stack in functions
+// using __try (see error C2712).
+static internal::String* FormatSehExceptionMessage(DWORD exception_code,
+ const char* location) {
+ Message message;
+ message << "SEH exception with code 0x" << std::setbase(16) <<
+ exception_code << std::setbase(10) << " thrown in " << location << ".";
+
+ return new internal::String(message.GetString());
+}
+
+#endif // GTEST_HAS_SEH
+
+#if GTEST_HAS_EXCEPTIONS
+
+// Adds an "exception thrown" fatal failure to the current test.
+static internal::String FormatCxxExceptionMessage(const char* description,
+ const char* location) {
+ Message message;
+ if (description != NULL) {
+ message << "C++ exception with description \"" << description << "\"";
+ } else {
+ message << "Unknown C++ exception";
+ }
+ message << " thrown in " << location << ".";
+
+ return message.GetString();
+}
+
+static internal::String PrintTestPartResultToString(
+ const TestPartResult& test_part_result);
+
+// A failed Google Test assertion will throw an exception of this type when
+// GTEST_FLAG(throw_on_failure) is true (if exceptions are enabled). We
+// derive it from std::runtime_error, which is for errors presumably
+// detectable only at run time. Since std::runtime_error inherits from
+// std::exception, many testing frameworks know how to extract and print the
+// message inside it.
+class GoogleTestFailureException : public ::std::runtime_error {
+ public:
+ explicit GoogleTestFailureException(const TestPartResult& failure)
+ : ::std::runtime_error(PrintTestPartResultToString(failure).c_str()) {}
+};
+#endif // GTEST_HAS_EXCEPTIONS
+
+namespace internal {
+// We put these helper functions in the internal namespace as IBM's xlC
+// compiler rejects the code if they were declared static.
+
+// Runs the given method and handles SEH exceptions it throws, when
+// SEH is supported; returns the 0-value for type Result in case of an
+// SEH exception. (Microsoft compilers cannot handle SEH and C++
+// exceptions in the same function. Therefore, we provide a separate
+// wrapper function for handling SEH exceptions.)
+template <class T, typename Result>
+Result HandleSehExceptionsInMethodIfSupported(
+ T* object, Result (T::*method)(), const char* location) {
+#if GTEST_HAS_SEH
+ __try {
+ return (object->*method)();
+ } __except (internal::UnitTestOptions::GTestShouldProcessSEH( // NOLINT
+ GetExceptionCode())) {
+ // We create the exception message on the heap because VC++ prohibits
+ // creation of objects with destructors on stack in functions using __try
+ // (see error C2712).
+ internal::String* exception_message = FormatSehExceptionMessage(
+ GetExceptionCode(), location);
+ internal::ReportFailureInUnknownLocation(TestPartResult::kFatalFailure,
+ *exception_message);
+ delete exception_message;
+ return static_cast<Result>(0);
+ }
+#else
+ (void)location;
+ return (object->*method)();
+#endif // GTEST_HAS_SEH
+}
+
+// Runs the given method and catches and reports C++ and/or SEH-style
+// exceptions, if they are supported; returns the 0-value for type
+// Result in case of an SEH exception.
+template <class T, typename Result>
+Result HandleExceptionsInMethodIfSupported(
+ T* object, Result (T::*method)(), const char* location) {
+ // NOTE: The user code can affect the way in which Google Test handles
+ // exceptions by setting GTEST_FLAG(catch_exceptions), but only before
+ // RUN_ALL_TESTS() starts. It is technically possible to check the flag
+ // after the exception is caught and either report or re-throw the
+ // exception based on the flag's value:
+ //
+ // try {
+ // // Perform the test method.
+ // } catch (...) {
+ // if (GTEST_FLAG(catch_exceptions))
+ // // Report the exception as failure.
+ // else
+ // throw; // Re-throws the original exception.
+ // }
+ //
+ // However, the purpose of this flag is to allow the program to drop into
+ // the debugger when the exception is thrown. On most platforms, once the
+ // control enters the catch block, the exception origin information is
+ // lost and the debugger will stop the program at the point of the
+ // re-throw in this function -- instead of at the point of the original
+ // throw statement in the code under test. For this reason, we perform
+ // the check early, sacrificing the ability to affect Google Test's
+ // exception handling in the method where the exception is thrown.
+ if (internal::GetUnitTestImpl()->catch_exceptions()) {
+#if GTEST_HAS_EXCEPTIONS
+ try {
+ return HandleSehExceptionsInMethodIfSupported(object, method, location);
+ } catch (const GoogleTestFailureException&) { // NOLINT
+ // This exception doesn't originate in code under test. It makes no
+ // sense to report it as a test failure.
+ throw;
+ } catch (const std::exception& e) { // NOLINT
+ internal::ReportFailureInUnknownLocation(
+ TestPartResult::kFatalFailure,
+ FormatCxxExceptionMessage(e.what(), location));
+ } catch (...) { // NOLINT
+ internal::ReportFailureInUnknownLocation(
+ TestPartResult::kFatalFailure,
+ FormatCxxExceptionMessage(NULL, location));
+ }
+ return static_cast<Result>(0);
+#else
+ return HandleSehExceptionsInMethodIfSupported(object, method, location);
+#endif // GTEST_HAS_EXCEPTIONS
+ } else {
+ return (object->*method)();
+ }
+}
+
+} // namespace internal
+
+// Runs the test and updates the test result.
+void Test::Run() {
+ if (!HasSameFixtureClass()) return;
+
+ internal::UnitTestImpl* const impl = internal::GetUnitTestImpl();
+ impl->os_stack_trace_getter()->UponLeavingGTest();
+ internal::HandleExceptionsInMethodIfSupported(this, &Test::SetUp, "SetUp()");
+ // We will run the test only if SetUp() was successful.
+ if (!HasFatalFailure()) {
+ impl->os_stack_trace_getter()->UponLeavingGTest();
+ internal::HandleExceptionsInMethodIfSupported(
+ this, &Test::TestBody, "the test body");
+ }
+
+ // However, we want to clean up as much as possible. Hence we will
+ // always call TearDown(), even if SetUp() or the test body has
+ // failed.
+ impl->os_stack_trace_getter()->UponLeavingGTest();
+ internal::HandleExceptionsInMethodIfSupported(
+ this, &Test::TearDown, "TearDown()");
+}
+
+// Returns true iff the current test has a fatal failure.
+bool Test::HasFatalFailure() {
+ return internal::GetUnitTestImpl()->current_test_result()->HasFatalFailure();
+}
+
+// Returns true iff the current test has a non-fatal failure.
+bool Test::HasNonfatalFailure() {
+ return internal::GetUnitTestImpl()->current_test_result()->
+ HasNonfatalFailure();
+}
+
+// class TestInfo
+
+// Constructs a TestInfo object. It assumes ownership of the test factory
+// object.
+// TODO(vladl@google.com): Make a_test_case_name and a_name const string&'s
+// to signify they cannot be NULLs.
+TestInfo::TestInfo(const char* a_test_case_name,
+ const char* a_name,
+ const char* a_type_param,
+ const char* a_value_param,
+ internal::TypeId fixture_class_id,
+ internal::TestFactoryBase* factory)
+ : test_case_name_(a_test_case_name),
+ name_(a_name),
+ type_param_(a_type_param ? new std::string(a_type_param) : NULL),
+ value_param_(a_value_param ? new std::string(a_value_param) : NULL),
+ fixture_class_id_(fixture_class_id),
+ should_run_(false),
+ is_disabled_(false),
+ matches_filter_(false),
+ factory_(factory),
+ result_() {}
+
+// Destructs a TestInfo object.
+TestInfo::~TestInfo() { delete factory_; }
+
+namespace internal {
+
+// Creates a new TestInfo object and registers it with Google Test;
+// returns the created object.
+//
+// Arguments:
+//
+// test_case_name: name of the test case
+// name: name of the test
+// type_param: the name of the test's type parameter, or NULL if
+// this is not a typed or a type-parameterized test.
+// value_param: text representation of the test's value parameter,
+// or NULL if this is not a value-parameterized test.
+// fixture_class_id: ID of the test fixture class
+// set_up_tc: pointer to the function that sets up the test case
+// tear_down_tc: pointer to the function that tears down the test case
+// factory: pointer to the factory that creates a test object.
+// The newly created TestInfo instance will assume
+// ownership of the factory object.
+TestInfo* MakeAndRegisterTestInfo(
+ const char* test_case_name, const char* name,
+ const char* type_param,
+ const char* value_param,
+ TypeId fixture_class_id,
+ SetUpTestCaseFunc set_up_tc,
+ TearDownTestCaseFunc tear_down_tc,
+ TestFactoryBase* factory) {
+ TestInfo* const test_info =
+ new TestInfo(test_case_name, name, type_param, value_param,
+ fixture_class_id, factory);
+ GetUnitTestImpl()->AddTestInfo(set_up_tc, tear_down_tc, test_info);
+ return test_info;
+}
+
+#if GTEST_HAS_PARAM_TEST
+void ReportInvalidTestCaseType(const char* test_case_name,
+ const char* file, int line) {
+ Message errors;
+ errors
+ << "Attempted redefinition of test case " << test_case_name << ".\n"
+ << "All tests in the same test case must use the same test fixture\n"
+ << "class. However, in test case " << test_case_name << ", you tried\n"
+ << "to define a test using a fixture class different from the one\n"
+ << "used earlier. This can happen if the two fixture classes are\n"
+ << "from different namespaces and have the same name. You should\n"
+ << "probably rename one of the classes to put the tests into different\n"
+ << "test cases.";
+
+ fprintf(stderr, "%s %s", FormatFileLocation(file, line).c_str(),
+ errors.GetString().c_str());
+}
+#endif // GTEST_HAS_PARAM_TEST
+
+} // namespace internal
+
+namespace {
+
+// A predicate that checks the test name of a TestInfo against a known
+// value.
+//
+// This is used for implementation of the TestCase class only. We put
+// it in the anonymous namespace to prevent polluting the outer
+// namespace.
+//
+// TestNameIs is copyable.
+class TestNameIs {
+ public:
+ // Constructor.
+ //
+ // TestNameIs has NO default constructor.
+ explicit TestNameIs(const char* name)
+ : name_(name) {}
+
+ // Returns true iff the test name of test_info matches name_.
+ bool operator()(const TestInfo * test_info) const {
+ return test_info && internal::String(test_info->name()).Compare(name_) == 0;
+ }
+
+ private:
+ internal::String name_;
+};
+
+} // namespace
+
+namespace internal {
+
+// This method expands all parameterized tests registered with macros TEST_P
+// and INSTANTIATE_TEST_CASE_P into regular tests and registers those.
+// This will be done just once during the program runtime.
+void UnitTestImpl::RegisterParameterizedTests() {
+#if GTEST_HAS_PARAM_TEST
+ if (!parameterized_tests_registered_) {
+ parameterized_test_registry_.RegisterTests();
+ parameterized_tests_registered_ = true;
+ }
+#endif
+}
+
+} // namespace internal
+
+// Creates the test object, runs it, records its result, and then
+// deletes it.
+void TestInfo::Run() {
+ if (!should_run_) return;
+
+ // Tells UnitTest where to store test result.
+ internal::UnitTestImpl* const impl = internal::GetUnitTestImpl();
+ impl->set_current_test_info(this);
+
+ TestEventListener* repeater = UnitTest::GetInstance()->listeners().repeater();
+
+ // Notifies the unit test event listeners that a test is about to start.
+ repeater->OnTestStart(*this);
+
+ const TimeInMillis start = internal::GetTimeInMillis();
+
+ impl->os_stack_trace_getter()->UponLeavingGTest();
+
+ // Creates the test object.
+ Test* const test = internal::HandleExceptionsInMethodIfSupported(
+ factory_, &internal::TestFactoryBase::CreateTest,
+ "the test fixture's constructor");
+
+ // Runs the test only if the test object was created and its
+ // constructor didn't generate a fatal failure.
+ if ((test != NULL) && !Test::HasFatalFailure()) {
+ // This doesn't throw as all user code that can throw are wrapped into
+ // exception handling code.
+ test->Run();
+ }
+
+ // Deletes the test object.
+ impl->os_stack_trace_getter()->UponLeavingGTest();
+ internal::HandleExceptionsInMethodIfSupported(
+ test, &Test::DeleteSelf_, "the test fixture's destructor");
+
+ result_.set_elapsed_time(internal::GetTimeInMillis() - start);
+
+ // Notifies the unit test event listener that a test has just finished.
+ repeater->OnTestEnd(*this);
+
+ // Tells UnitTest to stop associating assertion results to this
+ // test.
+ impl->set_current_test_info(NULL);
+}
+
+// class TestCase
+
+// Gets the number of successful tests in this test case.
+int TestCase::successful_test_count() const {
+ return CountIf(test_info_list_, TestPassed);
+}
+
+// Gets the number of failed tests in this test case.
+int TestCase::failed_test_count() const {
+ return CountIf(test_info_list_, TestFailed);
+}
+
+int TestCase::disabled_test_count() const {
+ return CountIf(test_info_list_, TestDisabled);
+}
+
+// Get the number of tests in this test case that should run.
+int TestCase::test_to_run_count() const {
+ return CountIf(test_info_list_, ShouldRunTest);
+}
+
+// Gets the number of all tests.
+int TestCase::total_test_count() const {
+ return static_cast<int>(test_info_list_.size());
+}
+
+// Creates a TestCase with the given name.
+//
+// Arguments:
+//
+// name: name of the test case
+// a_type_param: the name of the test case's type parameter, or NULL if
+// this is not a typed or a type-parameterized test case.
+// set_up_tc: pointer to the function that sets up the test case
+// tear_down_tc: pointer to the function that tears down the test case
+TestCase::TestCase(const char* a_name, const char* a_type_param,
+ Test::SetUpTestCaseFunc set_up_tc,
+ Test::TearDownTestCaseFunc tear_down_tc)
+ : name_(a_name),
+ type_param_(a_type_param ? new std::string(a_type_param) : NULL),
+ set_up_tc_(set_up_tc),
+ tear_down_tc_(tear_down_tc),
+ should_run_(false),
+ elapsed_time_(0) {
+}
+
+// Destructor of TestCase.
+TestCase::~TestCase() {
+ // Deletes every Test in the collection.
+ ForEach(test_info_list_, internal::Delete<TestInfo>);
+}
+
+// Returns the i-th test among all the tests. i can range from 0 to
+// total_test_count() - 1. If i is not in that range, returns NULL.
+const TestInfo* TestCase::GetTestInfo(int i) const {
+ const int index = GetElementOr(test_indices_, i, -1);
+ return index < 0 ? NULL : test_info_list_[index];
+}
+
+// Returns the i-th test among all the tests. i can range from 0 to
+// total_test_count() - 1. If i is not in that range, returns NULL.
+TestInfo* TestCase::GetMutableTestInfo(int i) {
+ const int index = GetElementOr(test_indices_, i, -1);
+ return index < 0 ? NULL : test_info_list_[index];
+}
+
+// Adds a test to this test case. Will delete the test upon
+// destruction of the TestCase object.
+void TestCase::AddTestInfo(TestInfo * test_info) {
+ test_info_list_.push_back(test_info);
+ test_indices_.push_back(static_cast<int>(test_indices_.size()));
+}
+
+// Runs every test in this TestCase.
+void TestCase::Run() {
+ if (!should_run_) return;
+
+ internal::UnitTestImpl* const impl = internal::GetUnitTestImpl();
+ impl->set_current_test_case(this);
+
+ TestEventListener* repeater = UnitTest::GetInstance()->listeners().repeater();
+
+ repeater->OnTestCaseStart(*this);
+ impl->os_stack_trace_getter()->UponLeavingGTest();
+ internal::HandleExceptionsInMethodIfSupported(
+ this, &TestCase::RunSetUpTestCase, "SetUpTestCase()");
+
+ const internal::TimeInMillis start = internal::GetTimeInMillis();
+ for (int i = 0; i < total_test_count(); i++) {
+ GetMutableTestInfo(i)->Run();
+ }
+ elapsed_time_ = internal::GetTimeInMillis() - start;
+
+ impl->os_stack_trace_getter()->UponLeavingGTest();
+ internal::HandleExceptionsInMethodIfSupported(
+ this, &TestCase::RunTearDownTestCase, "TearDownTestCase()");
+
+ repeater->OnTestCaseEnd(*this);
+ impl->set_current_test_case(NULL);
+}
+
+// Clears the results of all tests in this test case.
+void TestCase::ClearResult() {
+ ForEach(test_info_list_, TestInfo::ClearTestResult);
+}
+
+// Shuffles the tests in this test case.
+void TestCase::ShuffleTests(internal::Random* random) {
+ Shuffle(random, &test_indices_);
+}
+
+// Restores the test order to before the first shuffle.
+void TestCase::UnshuffleTests() {
+ for (size_t i = 0; i < test_indices_.size(); i++) {
+ test_indices_[i] = static_cast<int>(i);
+ }
+}
+
+// Formats a countable noun. Depending on its quantity, either the
+// singular form or the plural form is used. e.g.
+//
+// FormatCountableNoun(1, "formula", "formuli") returns "1 formula".
+// FormatCountableNoun(5, "book", "books") returns "5 books".
+static internal::String FormatCountableNoun(int count,
+ const char * singular_form,
+ const char * plural_form) {
+ return internal::String::Format("%d %s", count,
+ count == 1 ? singular_form : plural_form);
+}
+
+// Formats the count of tests.
+static internal::String FormatTestCount(int test_count) {
+ return FormatCountableNoun(test_count, "test", "tests");
+}
+
+// Formats the count of test cases.
+static internal::String FormatTestCaseCount(int test_case_count) {
+ return FormatCountableNoun(test_case_count, "test case", "test cases");
+}
+
+// Converts a TestPartResult::Type enum to human-friendly string
+// representation. Both kNonFatalFailure and kFatalFailure are translated
+// to "Failure", as the user usually doesn't care about the difference
+// between the two when viewing the test result.
+static const char * TestPartResultTypeToString(TestPartResult::Type type) {
+ switch (type) {
+ case TestPartResult::kSuccess:
+ return "Success";
+
+ case TestPartResult::kNonFatalFailure:
+ case TestPartResult::kFatalFailure:
+#ifdef _MSC_VER
+ return "error: ";
+#else
+ return "Failure\n";
+#endif
+ default:
+ return "Unknown result type";
+ }
+}
+
+// Prints a TestPartResult to a String.
+static internal::String PrintTestPartResultToString(
+ const TestPartResult& test_part_result) {
+ return (Message()
+ << internal::FormatFileLocation(test_part_result.file_name(),
+ test_part_result.line_number())
+ << " " << TestPartResultTypeToString(test_part_result.type())
+ << test_part_result.message()).GetString();
+}
+
+// Prints a TestPartResult.
+static void PrintTestPartResult(const TestPartResult& test_part_result) {
+ const internal::String& result =
+ PrintTestPartResultToString(test_part_result);
+ printf("%s\n", result.c_str());
+ fflush(stdout);
+ // If the test program runs in Visual Studio or a debugger, the
+ // following statements add the test part result message to the Output
+ // window such that the user can double-click on it to jump to the
+ // corresponding source code location; otherwise they do nothing.
+#if GTEST_OS_WINDOWS && !GTEST_OS_WINDOWS_MOBILE
+ // We don't call OutputDebugString*() on Windows Mobile, as printing
+ // to stdout is done by OutputDebugString() there already - we don't
+ // want the same message printed twice.
+ ::OutputDebugStringA(result.c_str());
+ ::OutputDebugStringA("\n");
+#endif
+}
+
+// class PrettyUnitTestResultPrinter
+
+namespace internal {
+
+enum GTestColor {
+ COLOR_DEFAULT,
+ COLOR_RED,
+ COLOR_GREEN,
+ COLOR_YELLOW
+};
+
+#if GTEST_OS_WINDOWS && !GTEST_OS_WINDOWS_MOBILE
+
+// Returns the character attribute for the given color.
+WORD GetColorAttribute(GTestColor color) {
+ switch (color) {
+ case COLOR_RED: return FOREGROUND_RED;
+ case COLOR_GREEN: return FOREGROUND_GREEN;
+ case COLOR_YELLOW: return FOREGROUND_RED | FOREGROUND_GREEN;
+ default: return 0;
+ }
+}
+
+#else
+
+// Returns the ANSI color code for the given color. COLOR_DEFAULT is
+// an invalid input.
+const char* GetAnsiColorCode(GTestColor color) {
+ switch (color) {
+ case COLOR_RED: return "1";
+ case COLOR_GREEN: return "2";
+ case COLOR_YELLOW: return "3";
+ default: return NULL;
+ };
+}
+
+#endif // GTEST_OS_WINDOWS && !GTEST_OS_WINDOWS_MOBILE
+
+// Returns true iff Google Test should use colors in the output.
+bool ShouldUseColor(bool stdout_is_tty) {
+ const char* const gtest_color = GTEST_FLAG(color).c_str();
+
+ if (String::CaseInsensitiveCStringEquals(gtest_color, "auto")) {
+#if GTEST_OS_WINDOWS
+ // On Windows the TERM variable is usually not set, but the
+ // console there does support colors.
+ return stdout_is_tty;
+#else
+ // On non-Windows platforms, we rely on the TERM variable.
+ const char* const term = posix::GetEnv("TERM");
+ const bool term_supports_color =
+ String::CStringEquals(term, "xterm") ||
+ String::CStringEquals(term, "xterm-color") ||
+ String::CStringEquals(term, "xterm-256color") ||
+ String::CStringEquals(term, "screen") ||
+ String::CStringEquals(term, "linux") ||
+ String::CStringEquals(term, "cygwin");
+ return stdout_is_tty && term_supports_color;
+#endif // GTEST_OS_WINDOWS
+ }
+
+ return String::CaseInsensitiveCStringEquals(gtest_color, "yes") ||
+ String::CaseInsensitiveCStringEquals(gtest_color, "true") ||
+ String::CaseInsensitiveCStringEquals(gtest_color, "t") ||
+ String::CStringEquals(gtest_color, "1");
+ // We take "yes", "true", "t", and "1" as meaning "yes". If the
+ // value is neither one of these nor "auto", we treat it as "no" to
+ // be conservative.
+}
+
+// Helpers for printing colored strings to stdout. Note that on Windows, we
+// cannot simply emit special characters and have the terminal change colors.
+// This routine must actually emit the characters rather than return a string
+// that would be colored when printed, as can be done on Linux.
+void ColoredPrintf(GTestColor color, const char* fmt, ...) {
+ va_list args;
+ va_start(args, fmt);
+
+#if GTEST_OS_WINDOWS_MOBILE || GTEST_OS_SYMBIAN || GTEST_OS_ZOS
+ const bool use_color = false;
+#else
+ static const bool in_color_mode =
+ ShouldUseColor(posix::IsATTY(posix::FileNo(stdout)) != 0);
+ const bool use_color = in_color_mode && (color != COLOR_DEFAULT);
+#endif // GTEST_OS_WINDOWS_MOBILE || GTEST_OS_SYMBIAN || GTEST_OS_ZOS
+ // The '!= 0' comparison is necessary to satisfy MSVC 7.1.
+
+ if (!use_color) {
+ vprintf(fmt, args);
+ va_end(args);
+ return;
+ }
+
+#if GTEST_OS_WINDOWS && !GTEST_OS_WINDOWS_MOBILE
+ const HANDLE stdout_handle = GetStdHandle(STD_OUTPUT_HANDLE);
+
+ // Gets the current text color.
+ CONSOLE_SCREEN_BUFFER_INFO buffer_info;
+ GetConsoleScreenBufferInfo(stdout_handle, &buffer_info);
+ const WORD old_color_attrs = buffer_info.wAttributes;
+
+ // We need to flush the stream buffers into the console before each
+ // SetConsoleTextAttribute call lest it affect the text that is already
+ // printed but has not yet reached the console.
+ fflush(stdout);
+ SetConsoleTextAttribute(stdout_handle,
+ GetColorAttribute(color) | FOREGROUND_INTENSITY);
+ vprintf(fmt, args);
+
+ fflush(stdout);
+ // Restores the text color.
+ SetConsoleTextAttribute(stdout_handle, old_color_attrs);
+#else
+ printf("\033[0;3%sm", GetAnsiColorCode(color));
+ vprintf(fmt, args);
+ printf("\033[m"); // Resets the terminal to default.
+#endif // GTEST_OS_WINDOWS && !GTEST_OS_WINDOWS_MOBILE
+ va_end(args);
+}
+
+void PrintFullTestCommentIfPresent(const TestInfo& test_info) {
+ const char* const type_param = test_info.type_param();
+ const char* const value_param = test_info.value_param();
+
+ if (type_param != NULL || value_param != NULL) {
+ printf(", where ");
+ if (type_param != NULL) {
+ printf("TypeParam = %s", type_param);
+ if (value_param != NULL)
+ printf(" and ");
+ }
+ if (value_param != NULL) {
+ printf("GetParam() = %s", value_param);
+ }
+ }
+}
+
+// This class implements the TestEventListener interface.
+//
+// Class PrettyUnitTestResultPrinter is copyable.
+class PrettyUnitTestResultPrinter : public TestEventListener {
+ public:
+ PrettyUnitTestResultPrinter() {}
+ static void PrintTestName(const char * test_case, const char * test) {
+ printf("%s.%s", test_case, test);
+ }
+
+ // The following methods override what's in the TestEventListener class.
+ virtual void OnTestProgramStart(const UnitTest& /*unit_test*/) {}
+ virtual void OnTestIterationStart(const UnitTest& unit_test, int iteration);
+ virtual void OnEnvironmentsSetUpStart(const UnitTest& unit_test);
+ virtual void OnEnvironmentsSetUpEnd(const UnitTest& /*unit_test*/) {}
+ virtual void OnTestCaseStart(const TestCase& test_case);
+ virtual void OnTestStart(const TestInfo& test_info);
+ virtual void OnTestPartResult(const TestPartResult& result);
+ virtual void OnTestEnd(const TestInfo& test_info);
+ virtual void OnTestCaseEnd(const TestCase& test_case);
+ virtual void OnEnvironmentsTearDownStart(const UnitTest& unit_test);
+ virtual void OnEnvironmentsTearDownEnd(const UnitTest& /*unit_test*/) {}
+ virtual void OnTestIterationEnd(const UnitTest& unit_test, int iteration);
+ virtual void OnTestProgramEnd(const UnitTest& /*unit_test*/) {}
+
+ private:
+ static void PrintFailedTests(const UnitTest& unit_test);
+
+ internal::String test_case_name_;
+};
+
+ // Fired before each iteration of tests starts.
+void PrettyUnitTestResultPrinter::OnTestIterationStart(
+ const UnitTest& unit_test, int iteration) {
+ if (GTEST_FLAG(repeat) != 1)
+ printf("\nRepeating all tests (iteration %d) . . .\n\n", iteration + 1);
+
+ const char* const filter = GTEST_FLAG(filter).c_str();
+
+ // Prints the filter if it's not *. This reminds the user that some
+ // tests may be skipped.
+ if (!internal::String::CStringEquals(filter, kUniversalFilter)) {
+ ColoredPrintf(COLOR_YELLOW,
+ "Note: %s filter = %s\n", GTEST_NAME_, filter);
+ }
+
+ if (internal::ShouldShard(kTestTotalShards, kTestShardIndex, false)) {
+ const Int32 shard_index = Int32FromEnvOrDie(kTestShardIndex, -1);
+ ColoredPrintf(COLOR_YELLOW,
+ "Note: This is test shard %d of %s.\n",
+ static_cast<int>(shard_index) + 1,
+ internal::posix::GetEnv(kTestTotalShards));
+ }
+
+ if (GTEST_FLAG(shuffle)) {
+ ColoredPrintf(COLOR_YELLOW,
+ "Note: Randomizing tests' orders with a seed of %d .\n",
+ unit_test.random_seed());
+ }
+
+ ColoredPrintf(COLOR_GREEN, "[==========] ");
+ printf("Running %s from %s.\n",
+ FormatTestCount(unit_test.test_to_run_count()).c_str(),
+ FormatTestCaseCount(unit_test.test_case_to_run_count()).c_str());
+ fflush(stdout);
+}
+
+void PrettyUnitTestResultPrinter::OnEnvironmentsSetUpStart(
+ const UnitTest& /*unit_test*/) {
+ ColoredPrintf(COLOR_GREEN, "[----------] ");
+ printf("Global test environment set-up.\n");
+ fflush(stdout);
+}
+
+void PrettyUnitTestResultPrinter::OnTestCaseStart(const TestCase& test_case) {
+ test_case_name_ = test_case.name();
+ const internal::String counts =
+ FormatCountableNoun(test_case.test_to_run_count(), "test", "tests");
+ ColoredPrintf(COLOR_GREEN, "[----------] ");
+ printf("%s from %s", counts.c_str(), test_case_name_.c_str());
+ if (test_case.type_param() == NULL) {
+ printf("\n");
+ } else {
+ printf(", where TypeParam = %s\n", test_case.type_param());
+ }
+ fflush(stdout);
+}
+
+void PrettyUnitTestResultPrinter::OnTestStart(const TestInfo& test_info) {
+ ColoredPrintf(COLOR_GREEN, "[ RUN ] ");
+ PrintTestName(test_case_name_.c_str(), test_info.name());
+ printf("\n");
+ fflush(stdout);
+}
+
+// Called after an assertion failure.
+void PrettyUnitTestResultPrinter::OnTestPartResult(
+ const TestPartResult& result) {
+ // If the test part succeeded, we don't need to do anything.
+ if (result.type() == TestPartResult::kSuccess)
+ return;
+
+ // Print failure message from the assertion (e.g. expected this and got that).
+ PrintTestPartResult(result);
+ fflush(stdout);
+}
+
+void PrettyUnitTestResultPrinter::OnTestEnd(const TestInfo& test_info) {
+ if (test_info.result()->Passed()) {
+ ColoredPrintf(COLOR_GREEN, "[ OK ] ");
+ } else {
+ ColoredPrintf(COLOR_RED, "[ FAILED ] ");
+ }
+ PrintTestName(test_case_name_.c_str(), test_info.name());
+ if (test_info.result()->Failed())
+ PrintFullTestCommentIfPresent(test_info);
+
+ if (GTEST_FLAG(print_time)) {
+ printf(" (%s ms)\n", internal::StreamableToString(
+ test_info.result()->elapsed_time()).c_str());
+ } else {
+ printf("\n");
+ }
+ fflush(stdout);
+}
+
+void PrettyUnitTestResultPrinter::OnTestCaseEnd(const TestCase& test_case) {
+ if (!GTEST_FLAG(print_time)) return;
+
+ test_case_name_ = test_case.name();
+ const internal::String counts =
+ FormatCountableNoun(test_case.test_to_run_count(), "test", "tests");
+ ColoredPrintf(COLOR_GREEN, "[----------] ");
+ printf("%s from %s (%s ms total)\n\n",
+ counts.c_str(), test_case_name_.c_str(),
+ internal::StreamableToString(test_case.elapsed_time()).c_str());
+ fflush(stdout);
+}
+
+void PrettyUnitTestResultPrinter::OnEnvironmentsTearDownStart(
+ const UnitTest& /*unit_test*/) {
+ ColoredPrintf(COLOR_GREEN, "[----------] ");
+ printf("Global test environment tear-down\n");
+ fflush(stdout);
+}
+
+// Internal helper for printing the list of failed tests.
+void PrettyUnitTestResultPrinter::PrintFailedTests(const UnitTest& unit_test) {
+ const int failed_test_count = unit_test.failed_test_count();
+ if (failed_test_count == 0) {
+ return;
+ }
+
+ for (int i = 0; i < unit_test.total_test_case_count(); ++i) {
+ const TestCase& test_case = *unit_test.GetTestCase(i);
+ if (!test_case.should_run() || (test_case.failed_test_count() == 0)) {
+ continue;
+ }
+ for (int j = 0; j < test_case.total_test_count(); ++j) {
+ const TestInfo& test_info = *test_case.GetTestInfo(j);
+ if (!test_info.should_run() || test_info.result()->Passed()) {
+ continue;
+ }
+ ColoredPrintf(COLOR_RED, "[ FAILED ] ");
+ printf("%s.%s", test_case.name(), test_info.name());
+ PrintFullTestCommentIfPresent(test_info);
+ printf("\n");
+ }
+ }
+}
+
+void PrettyUnitTestResultPrinter::OnTestIterationEnd(const UnitTest& unit_test,
+ int /*iteration*/) {
+ ColoredPrintf(COLOR_GREEN, "[==========] ");
+ printf("%s from %s ran.",
+ FormatTestCount(unit_test.test_to_run_count()).c_str(),
+ FormatTestCaseCount(unit_test.test_case_to_run_count()).c_str());
+ if (GTEST_FLAG(print_time)) {
+ printf(" (%s ms total)",
+ internal::StreamableToString(unit_test.elapsed_time()).c_str());
+ }
+ printf("\n");
+ ColoredPrintf(COLOR_GREEN, "[ PASSED ] ");
+ printf("%s.\n", FormatTestCount(unit_test.successful_test_count()).c_str());
+
+ int num_failures = unit_test.failed_test_count();
+ if (!unit_test.Passed()) {
+ const int failed_test_count = unit_test.failed_test_count();
+ ColoredPrintf(COLOR_RED, "[ FAILED ] ");
+ printf("%s, listed below:\n", FormatTestCount(failed_test_count).c_str());
+ PrintFailedTests(unit_test);
+ printf("\n%2d FAILED %s\n", num_failures,
+ num_failures == 1 ? "TEST" : "TESTS");
+ }
+
+ int num_disabled = unit_test.disabled_test_count();
+ if (num_disabled && !GTEST_FLAG(also_run_disabled_tests)) {
+ if (!num_failures) {
+ printf("\n"); // Add a spacer if no FAILURE banner is displayed.
+ }
+ ColoredPrintf(COLOR_YELLOW,
+ " YOU HAVE %d DISABLED %s\n\n",
+ num_disabled,
+ num_disabled == 1 ? "TEST" : "TESTS");
+ }
+ // Ensure that Google Test output is printed before, e.g., heapchecker output.
+ fflush(stdout);
+}
+
+// End PrettyUnitTestResultPrinter
+
+// class TestEventRepeater
+//
+// This class forwards events to other event listeners.
+class TestEventRepeater : public TestEventListener {
+ public:
+ TestEventRepeater() : forwarding_enabled_(true) {}
+ virtual ~TestEventRepeater();
+ void Append(TestEventListener *listener);
+ TestEventListener* Release(TestEventListener* listener);
+
+ // Controls whether events will be forwarded to listeners_. Set to false
+ // in death test child processes.
+ bool forwarding_enabled() const { return forwarding_enabled_; }
+ void set_forwarding_enabled(bool enable) { forwarding_enabled_ = enable; }
+
+ virtual void OnTestProgramStart(const UnitTest& unit_test);
+ virtual void OnTestIterationStart(const UnitTest& unit_test, int iteration);
+ virtual void OnEnvironmentsSetUpStart(const UnitTest& unit_test);
+ virtual void OnEnvironmentsSetUpEnd(const UnitTest& unit_test);
+ virtual void OnTestCaseStart(const TestCase& test_case);
+ virtual void OnTestStart(const TestInfo& test_info);
+ virtual void OnTestPartResult(const TestPartResult& result);
+ virtual void OnTestEnd(const TestInfo& test_info);
+ virtual void OnTestCaseEnd(const TestCase& test_case);
+ virtual void OnEnvironmentsTearDownStart(const UnitTest& unit_test);
+ virtual void OnEnvironmentsTearDownEnd(const UnitTest& unit_test);
+ virtual void OnTestIterationEnd(const UnitTest& unit_test, int iteration);
+ virtual void OnTestProgramEnd(const UnitTest& unit_test);
+
+ private:
+ // Controls whether events will be forwarded to listeners_. Set to false
+ // in death test child processes.
+ bool forwarding_enabled_;
+ // The list of listeners that receive events.
+ std::vector<TestEventListener*> listeners_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(TestEventRepeater);
+};
+
+TestEventRepeater::~TestEventRepeater() {
+ ForEach(listeners_, Delete<TestEventListener>);
+}
+
+void TestEventRepeater::Append(TestEventListener *listener) {
+ listeners_.push_back(listener);
+}
+
+// TODO(vladl@google.com): Factor the search functionality into Vector::Find.
+TestEventListener* TestEventRepeater::Release(TestEventListener *listener) {
+ for (size_t i = 0; i < listeners_.size(); ++i) {
+ if (listeners_[i] == listener) {
+ listeners_.erase(listeners_.begin() + i);
+ return listener;
+ }
+ }
+
+ return NULL;
+}
+
+// Since most methods are very similar, use macros to reduce boilerplate.
+// This defines a member that forwards the call to all listeners.
+#define GTEST_REPEATER_METHOD_(Name, Type) \
+void TestEventRepeater::Name(const Type& parameter) { \
+ if (forwarding_enabled_) { \
+ for (size_t i = 0; i < listeners_.size(); i++) { \
+ listeners_[i]->Name(parameter); \
+ } \
+ } \
+}
+// This defines a member that forwards the call to all listeners in reverse
+// order.
+#define GTEST_REVERSE_REPEATER_METHOD_(Name, Type) \
+void TestEventRepeater::Name(const Type& parameter) { \
+ if (forwarding_enabled_) { \
+ for (int i = static_cast<int>(listeners_.size()) - 1; i >= 0; i--) { \
+ listeners_[i]->Name(parameter); \
+ } \
+ } \
+}
+
+GTEST_REPEATER_METHOD_(OnTestProgramStart, UnitTest)
+GTEST_REPEATER_METHOD_(OnEnvironmentsSetUpStart, UnitTest)
+GTEST_REPEATER_METHOD_(OnTestCaseStart, TestCase)
+GTEST_REPEATER_METHOD_(OnTestStart, TestInfo)
+GTEST_REPEATER_METHOD_(OnTestPartResult, TestPartResult)
+GTEST_REPEATER_METHOD_(OnEnvironmentsTearDownStart, UnitTest)
+GTEST_REVERSE_REPEATER_METHOD_(OnEnvironmentsSetUpEnd, UnitTest)
+GTEST_REVERSE_REPEATER_METHOD_(OnEnvironmentsTearDownEnd, UnitTest)
+GTEST_REVERSE_REPEATER_METHOD_(OnTestEnd, TestInfo)
+GTEST_REVERSE_REPEATER_METHOD_(OnTestCaseEnd, TestCase)
+GTEST_REVERSE_REPEATER_METHOD_(OnTestProgramEnd, UnitTest)
+
+#undef GTEST_REPEATER_METHOD_
+#undef GTEST_REVERSE_REPEATER_METHOD_
+
+void TestEventRepeater::OnTestIterationStart(const UnitTest& unit_test,
+ int iteration) {
+ if (forwarding_enabled_) {
+ for (size_t i = 0; i < listeners_.size(); i++) {
+ listeners_[i]->OnTestIterationStart(unit_test, iteration);
+ }
+ }
+}
+
+void TestEventRepeater::OnTestIterationEnd(const UnitTest& unit_test,
+ int iteration) {
+ if (forwarding_enabled_) {
+ for (int i = static_cast<int>(listeners_.size()) - 1; i >= 0; i--) {
+ listeners_[i]->OnTestIterationEnd(unit_test, iteration);
+ }
+ }
+}
+
+// End TestEventRepeater
+
+// This class generates an XML output file.
+class XmlUnitTestResultPrinter : public EmptyTestEventListener {
+ public:
+ explicit XmlUnitTestResultPrinter(const char* output_file);
+
+ virtual void OnTestIterationEnd(const UnitTest& unit_test, int iteration);
+
+ private:
+ // Is c a whitespace character that is normalized to a space character
+ // when it appears in an XML attribute value?
+ static bool IsNormalizableWhitespace(char c) {
+ return c == 0x9 || c == 0xA || c == 0xD;
+ }
+
+ // May c appear in a well-formed XML document?
+ static bool IsValidXmlCharacter(char c) {
+ return IsNormalizableWhitespace(c) || c >= 0x20;
+ }
+
+ // Returns an XML-escaped copy of the input string str. If
+ // is_attribute is true, the text is meant to appear as an attribute
+ // value, and normalizable whitespace is preserved by replacing it
+ // with character references.
+ static String EscapeXml(const char* str, bool is_attribute);
+
+ // Returns the given string with all characters invalid in XML removed.
+ static string RemoveInvalidXmlCharacters(const string& str);
+
+ // Convenience wrapper around EscapeXml when str is an attribute value.
+ static String EscapeXmlAttribute(const char* str) {
+ return EscapeXml(str, true);
+ }
+
+ // Convenience wrapper around EscapeXml when str is not an attribute value.
+ static String EscapeXmlText(const char* str) { return EscapeXml(str, false); }
+
+ // Streams an XML CDATA section, escaping invalid CDATA sequences as needed.
+ static void OutputXmlCDataSection(::std::ostream* stream, const char* data);
+
+ // Streams an XML representation of a TestInfo object.
+ static void OutputXmlTestInfo(::std::ostream* stream,
+ const char* test_case_name,
+ const TestInfo& test_info);
+
+ // Prints an XML representation of a TestCase object
+ static void PrintXmlTestCase(FILE* out, const TestCase& test_case);
+
+ // Prints an XML summary of unit_test to output stream out.
+ static void PrintXmlUnitTest(FILE* out, const UnitTest& unit_test);
+
+ // Produces a string representing the test properties in a result as space
+ // delimited XML attributes based on the property key="value" pairs.
+ // When the String is not empty, it includes a space at the beginning,
+ // to delimit this attribute from prior attributes.
+ static String TestPropertiesAsXmlAttributes(const TestResult& result);
+
+ // The output file.
+ const String output_file_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(XmlUnitTestResultPrinter);
+};
+
+// Creates a new XmlUnitTestResultPrinter.
+XmlUnitTestResultPrinter::XmlUnitTestResultPrinter(const char* output_file)
+ : output_file_(output_file) {
+ if (output_file_.c_str() == NULL || output_file_.empty()) {
+ fprintf(stderr, "XML output file may not be null\n");
+ fflush(stderr);
+ exit(EXIT_FAILURE);
+ }
+}
+
+// Called after the unit test ends.
+void XmlUnitTestResultPrinter::OnTestIterationEnd(const UnitTest& unit_test,
+ int /*iteration*/) {
+ FILE* xmlout = NULL;
+ FilePath output_file(output_file_);
+ FilePath output_dir(output_file.RemoveFileName());
+
+ if (output_dir.CreateDirectoriesRecursively()) {
+ xmlout = posix::FOpen(output_file_.c_str(), "w");
+ }
+ if (xmlout == NULL) {
+ // TODO(wan): report the reason of the failure.
+ //
+ // We don't do it for now as:
+ //
+ // 1. There is no urgent need for it.
+ // 2. It's a bit involved to make the errno variable thread-safe on
+ // all three operating systems (Linux, Windows, and Mac OS).
+ // 3. To interpret the meaning of errno in a thread-safe way,
+ // we need the strerror_r() function, which is not available on
+ // Windows.
+ fprintf(stderr,
+ "Unable to open file \"%s\"\n",
+ output_file_.c_str());
+ fflush(stderr);
+ exit(EXIT_FAILURE);
+ }
+ PrintXmlUnitTest(xmlout, unit_test);
+ fclose(xmlout);
+}
+
+// Returns an XML-escaped copy of the input string str. If is_attribute
+// is true, the text is meant to appear as an attribute value, and
+// normalizable whitespace is preserved by replacing it with character
+// references.
+//
+// Invalid XML characters in str, if any, are stripped from the output.
+// It is expected that most, if not all, of the text processed by this
+// module will consist of ordinary English text.
+// If this module is ever modified to produce version 1.1 XML output,
+// most invalid characters can be retained using character references.
+// TODO(wan): It might be nice to have a minimally invasive, human-readable
+// escaping scheme for invalid characters, rather than dropping them.
+String XmlUnitTestResultPrinter::EscapeXml(const char* str, bool is_attribute) {
+ Message m;
+
+ if (str != NULL) {
+ for (const char* src = str; *src; ++src) {
+ switch (*src) {
+ case '<':
+ m << "<";
+ break;
+ case '>':
+ m << ">";
+ break;
+ case '&':
+ m << "&";
+ break;
+ case '\'':
+ if (is_attribute)
+ m << "'";
+ else
+ m << '\'';
+ break;
+ case '"':
+ if (is_attribute)
+ m << """;
+ else
+ m << '"';
+ break;
+ default:
+ if (IsValidXmlCharacter(*src)) {
+ if (is_attribute && IsNormalizableWhitespace(*src))
+ m << String::Format("&#x%02X;", unsigned(*src));
+ else
+ m << *src;
+ }
+ break;
+ }
+ }
+ }
+
+ return m.GetString();
+}
+
+// Returns the given string with all characters invalid in XML removed.
+// Currently invalid characters are dropped from the string. An
+// alternative is to replace them with certain characters such as . or ?.
+string XmlUnitTestResultPrinter::RemoveInvalidXmlCharacters(const string& str) {
+ string output;
+ output.reserve(str.size());
+ for (string::const_iterator it = str.begin(); it != str.end(); ++it)
+ if (IsValidXmlCharacter(*it))
+ output.push_back(*it);
+
+ return output;
+}
+
+// The following routines generate an XML representation of a UnitTest
+// object.
+//
+// This is how Google Test concepts map to the DTD:
+//
+// <testsuites name="AllTests"> <-- corresponds to a UnitTest object
+// <testsuite name="testcase-name"> <-- corresponds to a TestCase object
+// <testcase name="test-name"> <-- corresponds to a TestInfo object
+// <failure message="...">...</failure>
+// <failure message="...">...</failure>
+// <failure message="...">...</failure>
+// <-- individual assertion failures
+// </testcase>
+// </testsuite>
+// </testsuites>
+
+// Formats the given time in milliseconds as seconds.
+std::string FormatTimeInMillisAsSeconds(TimeInMillis ms) {
+ ::std::stringstream ss;
+ ss << ms/1000.0;
+ return ss.str();
+}
+
+// Streams an XML CDATA section, escaping invalid CDATA sequences as needed.
+void XmlUnitTestResultPrinter::OutputXmlCDataSection(::std::ostream* stream,
+ const char* data) {
+ const char* segment = data;
+ *stream << "<![CDATA[";
+ for (;;) {
+ const char* const next_segment = strstr(segment, "]]>");
+ if (next_segment != NULL) {
+ stream->write(
+ segment, static_cast<std::streamsize>(next_segment - segment));
+ *stream << "]]>]]><![CDATA[";
+ segment = next_segment + strlen("]]>");
+ } else {
+ *stream << segment;
+ break;
+ }
+ }
+ *stream << "]]>";
+}
+
+// Prints an XML representation of a TestInfo object.
+// TODO(wan): There is also value in printing properties with the plain printer.
+void XmlUnitTestResultPrinter::OutputXmlTestInfo(::std::ostream* stream,
+ const char* test_case_name,
+ const TestInfo& test_info) {
+ const TestResult& result = *test_info.result();
+ *stream << " <testcase name=\""
+ << EscapeXmlAttribute(test_info.name()).c_str() << "\"";
+
+ if (test_info.value_param() != NULL) {
+ *stream << " value_param=\"" << EscapeXmlAttribute(test_info.value_param())
+ << "\"";
+ }
+ if (test_info.type_param() != NULL) {
+ *stream << " type_param=\"" << EscapeXmlAttribute(test_info.type_param())
+ << "\"";
+ }
+
+ *stream << " status=\""
+ << (test_info.should_run() ? "run" : "notrun")
+ << "\" time=\""
+ << FormatTimeInMillisAsSeconds(result.elapsed_time())
+ << "\" classname=\"" << EscapeXmlAttribute(test_case_name).c_str()
+ << "\"" << TestPropertiesAsXmlAttributes(result).c_str();
+
+ int failures = 0;
+ for (int i = 0; i < result.total_part_count(); ++i) {
+ const TestPartResult& part = result.GetTestPartResult(i);
+ if (part.failed()) {
+ if (++failures == 1)
+ *stream << ">\n";
+ *stream << " <failure message=\""
+ << EscapeXmlAttribute(part.summary()).c_str()
+ << "\" type=\"\">";
+ const string location = internal::FormatCompilerIndependentFileLocation(
+ part.file_name(), part.line_number());
+ const string message = location + "\n" + part.message();
+ OutputXmlCDataSection(stream,
+ RemoveInvalidXmlCharacters(message).c_str());
+ *stream << "</failure>\n";
+ }
+ }
+
+ if (failures == 0)
+ *stream << " />\n";
+ else
+ *stream << " </testcase>\n";
+}
+
+// Prints an XML representation of a TestCase object
+void XmlUnitTestResultPrinter::PrintXmlTestCase(FILE* out,
+ const TestCase& test_case) {
+ fprintf(out,
+ " <testsuite name=\"%s\" tests=\"%d\" failures=\"%d\" "
+ "disabled=\"%d\" ",
+ EscapeXmlAttribute(test_case.name()).c_str(),
+ test_case.total_test_count(),
+ test_case.failed_test_count(),
+ test_case.disabled_test_count());
+ fprintf(out,
+ "errors=\"0\" time=\"%s\">\n",
+ FormatTimeInMillisAsSeconds(test_case.elapsed_time()).c_str());
+ for (int i = 0; i < test_case.total_test_count(); ++i) {
+ ::std::stringstream stream;
+ OutputXmlTestInfo(&stream, test_case.name(), *test_case.GetTestInfo(i));
+ fprintf(out, "%s", StringStreamToString(&stream).c_str());
+ }
+ fprintf(out, " </testsuite>\n");
+}
+
+// Prints an XML summary of unit_test to output stream out.
+void XmlUnitTestResultPrinter::PrintXmlUnitTest(FILE* out,
+ const UnitTest& unit_test) {
+ fprintf(out, "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n");
+ fprintf(out,
+ "<testsuites tests=\"%d\" failures=\"%d\" disabled=\"%d\" "
+ "errors=\"0\" time=\"%s\" ",
+ unit_test.total_test_count(),
+ unit_test.failed_test_count(),
+ unit_test.disabled_test_count(),
+ FormatTimeInMillisAsSeconds(unit_test.elapsed_time()).c_str());
+ if (GTEST_FLAG(shuffle)) {
+ fprintf(out, "random_seed=\"%d\" ", unit_test.random_seed());
+ }
+ fprintf(out, "name=\"AllTests\">\n");
+ for (int i = 0; i < unit_test.total_test_case_count(); ++i)
+ PrintXmlTestCase(out, *unit_test.GetTestCase(i));
+ fprintf(out, "</testsuites>\n");
+}
+
+// Produces a string representing the test properties in a result as space
+// delimited XML attributes based on the property key="value" pairs.
+String XmlUnitTestResultPrinter::TestPropertiesAsXmlAttributes(
+ const TestResult& result) {
+ Message attributes;
+ for (int i = 0; i < result.test_property_count(); ++i) {
+ const TestProperty& property = result.GetTestProperty(i);
+ attributes << " " << property.key() << "="
+ << "\"" << EscapeXmlAttribute(property.value()) << "\"";
+ }
+ return attributes.GetString();
+}
+
+// End XmlUnitTestResultPrinter
+
+#if GTEST_CAN_STREAM_RESULTS_
+
+// Streams test results to the given port on the given host machine.
+class StreamingListener : public EmptyTestEventListener {
+ public:
+ // Escapes '=', '&', '%', and '\n' characters in str as "%xx".
+ static string UrlEncode(const char* str);
+
+ StreamingListener(const string& host, const string& port)
+ : sockfd_(-1), host_name_(host), port_num_(port) {
+ MakeConnection();
+ Send("gtest_streaming_protocol_version=1.0\n");
+ }
+
+ virtual ~StreamingListener() {
+ if (sockfd_ != -1)
+ CloseConnection();
+ }
+
+ void OnTestProgramStart(const UnitTest& /* unit_test */) {
+ Send("event=TestProgramStart\n");
+ }
+
+ void OnTestProgramEnd(const UnitTest& unit_test) {
+ // Note that Google Test current only report elapsed time for each
+ // test iteration, not for the entire test program.
+ Send(String::Format("event=TestProgramEnd&passed=%d\n",
+ unit_test.Passed()));
+
+ // Notify the streaming server to stop.
+ CloseConnection();
+ }
+
+ void OnTestIterationStart(const UnitTest& /* unit_test */, int iteration) {
+ Send(String::Format("event=TestIterationStart&iteration=%d\n",
+ iteration));
+ }
+
+ void OnTestIterationEnd(const UnitTest& unit_test, int /* iteration */) {
+ Send(String::Format("event=TestIterationEnd&passed=%d&elapsed_time=%sms\n",
+ unit_test.Passed(),
+ StreamableToString(unit_test.elapsed_time()).c_str()));
+ }
+
+ void OnTestCaseStart(const TestCase& test_case) {
+ Send(String::Format("event=TestCaseStart&name=%s\n", test_case.name()));
+ }
+
+ void OnTestCaseEnd(const TestCase& test_case) {
+ Send(String::Format("event=TestCaseEnd&passed=%d&elapsed_time=%sms\n",
+ test_case.Passed(),
+ StreamableToString(test_case.elapsed_time()).c_str()));
+ }
+
+ void OnTestStart(const TestInfo& test_info) {
+ Send(String::Format("event=TestStart&name=%s\n", test_info.name()));
+ }
+
+ void OnTestEnd(const TestInfo& test_info) {
+ Send(String::Format(
+ "event=TestEnd&passed=%d&elapsed_time=%sms\n",
+ (test_info.result())->Passed(),
+ StreamableToString((test_info.result())->elapsed_time()).c_str()));
+ }
+
+ void OnTestPartResult(const TestPartResult& test_part_result) {
+ const char* file_name = test_part_result.file_name();
+ if (file_name == NULL)
+ file_name = "";
+ Send(String::Format("event=TestPartResult&file=%s&line=%d&message=",
+ UrlEncode(file_name).c_str(),
+ test_part_result.line_number()));
+ Send(UrlEncode(test_part_result.message()) + "\n");
+ }
+
+ private:
+ // Creates a client socket and connects to the server.
+ void MakeConnection();
+
+ // Closes the socket.
+ void CloseConnection() {
+ GTEST_CHECK_(sockfd_ != -1)
+ << "CloseConnection() can be called only when there is a connection.";
+
+ close(sockfd_);
+ sockfd_ = -1;
+ }
+
+ // Sends a string to the socket.
+ void Send(const string& message) {
+ GTEST_CHECK_(sockfd_ != -1)
+ << "Send() can be called only when there is a connection.";
+
+ const int len = static_cast<int>(message.length());
+ if (write(sockfd_, message.c_str(), len) != len) {
+ GTEST_LOG_(WARNING)
+ << "stream_result_to: failed to stream to "
+ << host_name_ << ":" << port_num_;
+ }
+ }
+
+ int sockfd_; // socket file descriptor
+ const string host_name_;
+ const string port_num_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(StreamingListener);
+}; // class StreamingListener
+
+// Checks if str contains '=', '&', '%' or '\n' characters. If yes,
+// replaces them by "%xx" where xx is their hexadecimal value. For
+// example, replaces "=" with "%3D". This algorithm is O(strlen(str))
+// in both time and space -- important as the input str may contain an
+// arbitrarily long test failure message and stack trace.
+string StreamingListener::UrlEncode(const char* str) {
+ string result;
+ result.reserve(strlen(str) + 1);
+ for (char ch = *str; ch != '\0'; ch = *++str) {
+ switch (ch) {
+ case '%':
+ case '=':
+ case '&':
+ case '\n':
+ result.append(String::Format("%%%02x", static_cast<unsigned char>(ch)));
+ break;
+ default:
+ result.push_back(ch);
+ break;
+ }
+ }
+ return result;
+}
+
+void StreamingListener::MakeConnection() {
+ GTEST_CHECK_(sockfd_ == -1)
+ << "MakeConnection() can't be called when there is already a connection.";
+
+ addrinfo hints;
+ memset(&hints, 0, sizeof(hints));
+ hints.ai_family = AF_UNSPEC; // To allow both IPv4 and IPv6 addresses.
+ hints.ai_socktype = SOCK_STREAM;
+ addrinfo* servinfo = NULL;
+
+ // Use the getaddrinfo() to get a linked list of IP addresses for
+ // the given host name.
+ const int error_num = getaddrinfo(
+ host_name_.c_str(), port_num_.c_str(), &hints, &servinfo);
+ if (error_num != 0) {
+ GTEST_LOG_(WARNING) << "stream_result_to: getaddrinfo() failed: "
+ << gai_strerror(error_num);
+ }
+
+ // Loop through all the results and connect to the first we can.
+ for (addrinfo* cur_addr = servinfo; sockfd_ == -1 && cur_addr != NULL;
+ cur_addr = cur_addr->ai_next) {
+ sockfd_ = socket(
+ cur_addr->ai_family, cur_addr->ai_socktype, cur_addr->ai_protocol);
+ if (sockfd_ != -1) {
+ // Connect the client socket to the server socket.
+ if (connect(sockfd_, cur_addr->ai_addr, cur_addr->ai_addrlen) == -1) {
+ close(sockfd_);
+ sockfd_ = -1;
+ }
+ }
+ }
+
+ freeaddrinfo(servinfo); // all done with this structure
+
+ if (sockfd_ == -1) {
+ GTEST_LOG_(WARNING) << "stream_result_to: failed to connect to "
+ << host_name_ << ":" << port_num_;
+ }
+}
+
+// End of class Streaming Listener
+#endif // GTEST_CAN_STREAM_RESULTS__
+
+// Class ScopedTrace
+
+// Pushes the given source file location and message onto a per-thread
+// trace stack maintained by Google Test.
+// L < UnitTest::mutex_
+ScopedTrace::ScopedTrace(const char* file, int line, const Message& message) {
+ TraceInfo trace;
+ trace.file = file;
+ trace.line = line;
+ trace.message = message.GetString();
+
+ UnitTest::GetInstance()->PushGTestTrace(trace);
+}
+
+// Pops the info pushed by the c'tor.
+// L < UnitTest::mutex_
+ScopedTrace::~ScopedTrace() {
+ UnitTest::GetInstance()->PopGTestTrace();
+}
+
+
+// class OsStackTraceGetter
+
+// Returns the current OS stack trace as a String. Parameters:
+//
+// max_depth - the maximum number of stack frames to be included
+// in the trace.
+// skip_count - the number of top frames to be skipped; doesn't count
+// against max_depth.
+//
+// L < mutex_
+// We use "L < mutex_" to denote that the function may acquire mutex_.
+String OsStackTraceGetter::CurrentStackTrace(int, int) {
+ return String("");
+}
+
+// L < mutex_
+void OsStackTraceGetter::UponLeavingGTest() {
+}
+
+const char* const
+OsStackTraceGetter::kElidedFramesMarker =
+ "... " GTEST_NAME_ " internal frames ...";
+
+} // namespace internal
+
+// class TestEventListeners
+
+TestEventListeners::TestEventListeners()
+ : repeater_(new internal::TestEventRepeater()),
+ default_result_printer_(NULL),
+ default_xml_generator_(NULL) {
+}
+
+TestEventListeners::~TestEventListeners() { delete repeater_; }
+
+// Returns the standard listener responsible for the default console
+// output. Can be removed from the listeners list to shut down default
+// console output. Note that removing this object from the listener list
+// with Release transfers its ownership to the user.
+void TestEventListeners::Append(TestEventListener* listener) {
+ repeater_->Append(listener);
+}
+
+// Removes the given event listener from the list and returns it. It then
+// becomes the caller's responsibility to delete the listener. Returns
+// NULL if the listener is not found in the list.
+TestEventListener* TestEventListeners::Release(TestEventListener* listener) {
+ if (listener == default_result_printer_)
+ default_result_printer_ = NULL;
+ else if (listener == default_xml_generator_)
+ default_xml_generator_ = NULL;
+ return repeater_->Release(listener);
+}
+
+// Returns repeater that broadcasts the TestEventListener events to all
+// subscribers.
+TestEventListener* TestEventListeners::repeater() { return repeater_; }
+
+// Sets the default_result_printer attribute to the provided listener.
+// The listener is also added to the listener list and previous
+// default_result_printer is removed from it and deleted. The listener can
+// also be NULL in which case it will not be added to the list. Does
+// nothing if the previous and the current listener objects are the same.
+void TestEventListeners::SetDefaultResultPrinter(TestEventListener* listener) {
+ if (default_result_printer_ != listener) {
+ // It is an error to pass this method a listener that is already in the
+ // list.
+ delete Release(default_result_printer_);
+ default_result_printer_ = listener;
+ if (listener != NULL)
+ Append(listener);
+ }
+}
+
+// Sets the default_xml_generator attribute to the provided listener. The
+// listener is also added to the listener list and previous
+// default_xml_generator is removed from it and deleted. The listener can
+// also be NULL in which case it will not be added to the list. Does
+// nothing if the previous and the current listener objects are the same.
+void TestEventListeners::SetDefaultXmlGenerator(TestEventListener* listener) {
+ if (default_xml_generator_ != listener) {
+ // It is an error to pass this method a listener that is already in the
+ // list.
+ delete Release(default_xml_generator_);
+ default_xml_generator_ = listener;
+ if (listener != NULL)
+ Append(listener);
+ }
+}
+
+// Controls whether events will be forwarded by the repeater to the
+// listeners in the list.
+bool TestEventListeners::EventForwardingEnabled() const {
+ return repeater_->forwarding_enabled();
+}
+
+void TestEventListeners::SuppressEventForwarding() {
+ repeater_->set_forwarding_enabled(false);
+}
+
+// class UnitTest
+
+// Gets the singleton UnitTest object. The first time this method is
+// called, a UnitTest object is constructed and returned. Consecutive
+// calls will return the same object.
+//
+// We don't protect this under mutex_ as a user is not supposed to
+// call this before main() starts, from which point on the return
+// value will never change.
+UnitTest * UnitTest::GetInstance() {
+ // When compiled with MSVC 7.1 in optimized mode, destroying the
+ // UnitTest object upon exiting the program messes up the exit code,
+ // causing successful tests to appear failed. We have to use a
+ // different implementation in this case to bypass the compiler bug.
+ // This implementation makes the compiler happy, at the cost of
+ // leaking the UnitTest object.
+
+ // CodeGear C++Builder insists on a public destructor for the
+ // default implementation. Use this implementation to keep good OO
+ // design with private destructor.
+
+#if (_MSC_VER == 1310 && !defined(_DEBUG)) || defined(__BORLANDC__)
+ static UnitTest* const instance = new UnitTest;
+ return instance;
+#else
+ static UnitTest instance;
+ return &instance;
+#endif // (_MSC_VER == 1310 && !defined(_DEBUG)) || defined(__BORLANDC__)
+}
+
+// Gets the number of successful test cases.
+int UnitTest::successful_test_case_count() const {
+ return impl()->successful_test_case_count();
+}
+
+// Gets the number of failed test cases.
+int UnitTest::failed_test_case_count() const {
+ return impl()->failed_test_case_count();
+}
+
+// Gets the number of all test cases.
+int UnitTest::total_test_case_count() const {
+ return impl()->total_test_case_count();
+}
+
+// Gets the number of all test cases that contain at least one test
+// that should run.
+int UnitTest::test_case_to_run_count() const {
+ return impl()->test_case_to_run_count();
+}
+
+// Gets the number of successful tests.
+int UnitTest::successful_test_count() const {
+ return impl()->successful_test_count();
+}
+
+// Gets the number of failed tests.
+int UnitTest::failed_test_count() const { return impl()->failed_test_count(); }
+
+// Gets the number of disabled tests.
+int UnitTest::disabled_test_count() const {
+ return impl()->disabled_test_count();
+}
+
+// Gets the number of all tests.
+int UnitTest::total_test_count() const { return impl()->total_test_count(); }
+
+// Gets the number of tests that should run.
+int UnitTest::test_to_run_count() const { return impl()->test_to_run_count(); }
+
+// Gets the elapsed time, in milliseconds.
+internal::TimeInMillis UnitTest::elapsed_time() const {
+ return impl()->elapsed_time();
+}
+
+// Returns true iff the unit test passed (i.e. all test cases passed).
+bool UnitTest::Passed() const { return impl()->Passed(); }
+
+// Returns true iff the unit test failed (i.e. some test case failed
+// or something outside of all tests failed).
+bool UnitTest::Failed() const { return impl()->Failed(); }
+
+// Gets the i-th test case among all the test cases. i can range from 0 to
+// total_test_case_count() - 1. If i is not in that range, returns NULL.
+const TestCase* UnitTest::GetTestCase(int i) const {
+ return impl()->GetTestCase(i);
+}
+
+// Gets the i-th test case among all the test cases. i can range from 0 to
+// total_test_case_count() - 1. If i is not in that range, returns NULL.
+TestCase* UnitTest::GetMutableTestCase(int i) {
+ return impl()->GetMutableTestCase(i);
+}
+
+// Returns the list of event listeners that can be used to track events
+// inside Google Test.
+TestEventListeners& UnitTest::listeners() {
+ return *impl()->listeners();
+}
+
+// Registers and returns a global test environment. When a test
+// program is run, all global test environments will be set-up in the
+// order they were registered. After all tests in the program have
+// finished, all global test environments will be torn-down in the
+// *reverse* order they were registered.
+//
+// The UnitTest object takes ownership of the given environment.
+//
+// We don't protect this under mutex_, as we only support calling it
+// from the main thread.
+Environment* UnitTest::AddEnvironment(Environment* env) {
+ if (env == NULL) {
+ return NULL;
+ }
+
+ impl_->environments().push_back(env);
+ return env;
+}
+
+// Adds a TestPartResult to the current TestResult object. All Google Test
+// assertion macros (e.g. ASSERT_TRUE, EXPECT_EQ, etc) eventually call
+// this to report their results. The user code should use the
+// assertion macros instead of calling this directly.
+// L < mutex_
+void UnitTest::AddTestPartResult(TestPartResult::Type result_type,
+ const char* file_name,
+ int line_number,
+ const internal::String& message,
+ const internal::String& os_stack_trace) {
+ Message msg;
+ msg << message;
+
+ internal::MutexLock lock(&mutex_);
+ if (impl_->gtest_trace_stack().size() > 0) {
+ msg << "\n" << GTEST_NAME_ << " trace:";
+
+ for (int i = static_cast<int>(impl_->gtest_trace_stack().size());
+ i > 0; --i) {
+ const internal::TraceInfo& trace = impl_->gtest_trace_stack()[i - 1];
+ msg << "\n" << internal::FormatFileLocation(trace.file, trace.line)
+ << " " << trace.message;
+ }
+ }
+
+ if (os_stack_trace.c_str() != NULL && !os_stack_trace.empty()) {
+ msg << internal::kStackTraceMarker << os_stack_trace;
+ }
+
+ const TestPartResult result =
+ TestPartResult(result_type, file_name, line_number,
+ msg.GetString().c_str());
+ impl_->GetTestPartResultReporterForCurrentThread()->
+ ReportTestPartResult(result);
+
+ if (result_type != TestPartResult::kSuccess) {
+ // gtest_break_on_failure takes precedence over
+ // gtest_throw_on_failure. This allows a user to set the latter
+ // in the code (perhaps in order to use Google Test assertions
+ // with another testing framework) and specify the former on the
+ // command line for debugging.
+ if (GTEST_FLAG(break_on_failure)) {
+#if GTEST_OS_WINDOWS
+ // Using DebugBreak on Windows allows gtest to still break into a debugger
+ // when a failure happens and both the --gtest_break_on_failure and
+ // the --gtest_catch_exceptions flags are specified.
+ DebugBreak();
+#else
+ // Dereference NULL through a volatile pointer to prevent the compiler
+ // from removing. We use this rather than abort() or __builtin_trap() for
+ // portability: Symbian doesn't implement abort() well, and some debuggers
+ // don't correctly trap abort().
+ *static_cast<volatile int*>(NULL) = 1;
+#endif // GTEST_OS_WINDOWS
+ } else if (GTEST_FLAG(throw_on_failure)) {
+#if GTEST_HAS_EXCEPTIONS
+ throw GoogleTestFailureException(result);
+#else
+ // We cannot call abort() as it generates a pop-up in debug mode
+ // that cannot be suppressed in VC 7.1 or below.
+ exit(1);
+#endif
+ }
+ }
+}
+
+// Creates and adds a property to the current TestResult. If a property matching
+// the supplied value already exists, updates its value instead.
+void UnitTest::RecordPropertyForCurrentTest(const char* key,
+ const char* value) {
+ const TestProperty test_property(key, value);
+ impl_->current_test_result()->RecordProperty(test_property);
+}
+
+// Runs all tests in this UnitTest object and prints the result.
+// Returns 0 if successful, or 1 otherwise.
+//
+// We don't protect this under mutex_, as we only support calling it
+// from the main thread.
+int UnitTest::Run() {
+ // Captures the value of GTEST_FLAG(catch_exceptions). This value will be
+ // used for the duration of the program.
+ impl()->set_catch_exceptions(GTEST_FLAG(catch_exceptions));
+
+#if GTEST_HAS_SEH
+ const bool in_death_test_child_process =
+ internal::GTEST_FLAG(internal_run_death_test).length() > 0;
+
+ // Either the user wants Google Test to catch exceptions thrown by the
+ // tests or this is executing in the context of death test child
+ // process. In either case the user does not want to see pop-up dialogs
+ // about crashes - they are expected.
+ if (impl()->catch_exceptions() || in_death_test_child_process) {
+
+# if !GTEST_OS_WINDOWS_MOBILE
+ // SetErrorMode doesn't exist on CE.
+ SetErrorMode(SEM_FAILCRITICALERRORS | SEM_NOALIGNMENTFAULTEXCEPT |
+ SEM_NOGPFAULTERRORBOX | SEM_NOOPENFILEERRORBOX);
+# endif // !GTEST_OS_WINDOWS_MOBILE
+
+# if (defined(_MSC_VER) || GTEST_OS_WINDOWS_MINGW) && !GTEST_OS_WINDOWS_MOBILE
+ // Death test children can be terminated with _abort(). On Windows,
+ // _abort() can show a dialog with a warning message. This forces the
+ // abort message to go to stderr instead.
+ _set_error_mode(_OUT_TO_STDERR);
+# endif
+
+# if _MSC_VER >= 1400 && !GTEST_OS_WINDOWS_MOBILE
+ // In the debug version, Visual Studio pops up a separate dialog
+ // offering a choice to debug the aborted program. We need to suppress
+ // this dialog or it will pop up for every EXPECT/ASSERT_DEATH statement
+ // executed. Google Test will notify the user of any unexpected
+ // failure via stderr.
+ //
+ // VC++ doesn't define _set_abort_behavior() prior to the version 8.0.
+ // Users of prior VC versions shall suffer the agony and pain of
+ // clicking through the countless debug dialogs.
+ // TODO(vladl@google.com): find a way to suppress the abort dialog() in the
+ // debug mode when compiled with VC 7.1 or lower.
+ if (!GTEST_FLAG(break_on_failure))
+ _set_abort_behavior(
+ 0x0, // Clear the following flags:
+ _WRITE_ABORT_MSG | _CALL_REPORTFAULT); // pop-up window, core dump.
+# endif
+
+ }
+#endif // GTEST_HAS_SEH
+
+ return internal::HandleExceptionsInMethodIfSupported(
+ impl(),
+ &internal::UnitTestImpl::RunAllTests,
+ "auxiliary test code (environments or event listeners)") ? 0 : 1;
+}
+
+// Returns the working directory when the first TEST() or TEST_F() was
+// executed.
+const char* UnitTest::original_working_dir() const {
+ return impl_->original_working_dir_.c_str();
+}
+
+// Returns the TestCase object for the test that's currently running,
+// or NULL if no test is running.
+// L < mutex_
+const TestCase* UnitTest::current_test_case() const {
+ internal::MutexLock lock(&mutex_);
+ return impl_->current_test_case();
+}
+
+// Returns the TestInfo object for the test that's currently running,
+// or NULL if no test is running.
+// L < mutex_
+const TestInfo* UnitTest::current_test_info() const {
+ internal::MutexLock lock(&mutex_);
+ return impl_->current_test_info();
+}
+
+// Returns the random seed used at the start of the current test run.
+int UnitTest::random_seed() const { return impl_->random_seed(); }
+
+#if GTEST_HAS_PARAM_TEST
+// Returns ParameterizedTestCaseRegistry object used to keep track of
+// value-parameterized tests and instantiate and register them.
+// L < mutex_
+internal::ParameterizedTestCaseRegistry&
+ UnitTest::parameterized_test_registry() {
+ return impl_->parameterized_test_registry();
+}
+#endif // GTEST_HAS_PARAM_TEST
+
+// Creates an empty UnitTest.
+UnitTest::UnitTest() {
+ impl_ = new internal::UnitTestImpl(this);
+}
+
+// Destructor of UnitTest.
+UnitTest::~UnitTest() {
+ delete impl_;
+}
+
+// Pushes a trace defined by SCOPED_TRACE() on to the per-thread
+// Google Test trace stack.
+// L < mutex_
+void UnitTest::PushGTestTrace(const internal::TraceInfo& trace) {
+ internal::MutexLock lock(&mutex_);
+ impl_->gtest_trace_stack().push_back(trace);
+}
+
+// Pops a trace from the per-thread Google Test trace stack.
+// L < mutex_
+void UnitTest::PopGTestTrace() {
+ internal::MutexLock lock(&mutex_);
+ impl_->gtest_trace_stack().pop_back();
+}
+
+namespace internal {
+
+UnitTestImpl::UnitTestImpl(UnitTest* parent)
+ : parent_(parent),
+#ifdef _MSC_VER
+# pragma warning(push) // Saves the current warning state.
+# pragma warning(disable:4355) // Temporarily disables warning 4355
+ // (using this in initializer).
+ default_global_test_part_result_reporter_(this),
+ default_per_thread_test_part_result_reporter_(this),
+# pragma warning(pop) // Restores the warning state again.
+#else
+ default_global_test_part_result_reporter_(this),
+ default_per_thread_test_part_result_reporter_(this),
+#endif // _MSC_VER
+ global_test_part_result_repoter_(
+ &default_global_test_part_result_reporter_),
+ per_thread_test_part_result_reporter_(
+ &default_per_thread_test_part_result_reporter_),
+#if GTEST_HAS_PARAM_TEST
+ parameterized_test_registry_(),
+ parameterized_tests_registered_(false),
+#endif // GTEST_HAS_PARAM_TEST
+ last_death_test_case_(-1),
+ current_test_case_(NULL),
+ current_test_info_(NULL),
+ ad_hoc_test_result_(),
+ os_stack_trace_getter_(NULL),
+ post_flag_parse_init_performed_(false),
+ random_seed_(0), // Will be overridden by the flag before first use.
+ random_(0), // Will be reseeded before first use.
+ elapsed_time_(0),
+#if GTEST_HAS_DEATH_TEST
+ internal_run_death_test_flag_(NULL),
+ death_test_factory_(new DefaultDeathTestFactory),
+#endif
+ // Will be overridden by the flag before first use.
+ catch_exceptions_(false) {
+ listeners()->SetDefaultResultPrinter(new PrettyUnitTestResultPrinter);
+}
+
+UnitTestImpl::~UnitTestImpl() {
+ // Deletes every TestCase.
+ ForEach(test_cases_, internal::Delete<TestCase>);
+
+ // Deletes every Environment.
+ ForEach(environments_, internal::Delete<Environment>);
+
+ delete os_stack_trace_getter_;
+}
+
+#if GTEST_HAS_DEATH_TEST
+// Disables event forwarding if the control is currently in a death test
+// subprocess. Must not be called before InitGoogleTest.
+void UnitTestImpl::SuppressTestEventsIfInSubprocess() {
+ if (internal_run_death_test_flag_.get() != NULL)
+ listeners()->SuppressEventForwarding();
+}
+#endif // GTEST_HAS_DEATH_TEST
+
+// Initializes event listeners performing XML output as specified by
+// UnitTestOptions. Must not be called before InitGoogleTest.
+void UnitTestImpl::ConfigureXmlOutput() {
+ const String& output_format = UnitTestOptions::GetOutputFormat();
+ if (output_format == "xml") {
+ listeners()->SetDefaultXmlGenerator(new XmlUnitTestResultPrinter(
+ UnitTestOptions::GetAbsolutePathToOutputFile().c_str()));
+ } else if (output_format != "") {
+ printf("WARNING: unrecognized output format \"%s\" ignored.\n",
+ output_format.c_str());
+ fflush(stdout);
+ }
+}
+
+#if GTEST_CAN_STREAM_RESULTS_
+// Initializes event listeners for streaming test results in String form.
+// Must not be called before InitGoogleTest.
+void UnitTestImpl::ConfigureStreamingOutput() {
+ const string& target = GTEST_FLAG(stream_result_to);
+ if (!target.empty()) {
+ const size_t pos = target.find(':');
+ if (pos != string::npos) {
+ listeners()->Append(new StreamingListener(target.substr(0, pos),
+ target.substr(pos+1)));
+ } else {
+ printf("WARNING: unrecognized streaming target \"%s\" ignored.\n",
+ target.c_str());
+ fflush(stdout);
+ }
+ }
+}
+#endif // GTEST_CAN_STREAM_RESULTS_
+
+// Performs initialization dependent upon flag values obtained in
+// ParseGoogleTestFlagsOnly. Is called from InitGoogleTest after the call to
+// ParseGoogleTestFlagsOnly. In case a user neglects to call InitGoogleTest
+// this function is also called from RunAllTests. Since this function can be
+// called more than once, it has to be idempotent.
+void UnitTestImpl::PostFlagParsingInit() {
+ // Ensures that this function does not execute more than once.
+ if (!post_flag_parse_init_performed_) {
+ post_flag_parse_init_performed_ = true;
+
+#if GTEST_HAS_DEATH_TEST
+ InitDeathTestSubprocessControlInfo();
+ SuppressTestEventsIfInSubprocess();
+#endif // GTEST_HAS_DEATH_TEST
+
+ // Registers parameterized tests. This makes parameterized tests
+ // available to the UnitTest reflection API without running
+ // RUN_ALL_TESTS.
+ RegisterParameterizedTests();
+
+ // Configures listeners for XML output. This makes it possible for users
+ // to shut down the default XML output before invoking RUN_ALL_TESTS.
+ ConfigureXmlOutput();
+
+#if GTEST_CAN_STREAM_RESULTS_
+ // Configures listeners for streaming test results to the specified server.
+ ConfigureStreamingOutput();
+#endif // GTEST_CAN_STREAM_RESULTS_
+ }
+}
+
+// A predicate that checks the name of a TestCase against a known
+// value.
+//
+// This is used for implementation of the UnitTest class only. We put
+// it in the anonymous namespace to prevent polluting the outer
+// namespace.
+//
+// TestCaseNameIs is copyable.
+class TestCaseNameIs {
+ public:
+ // Constructor.
+ explicit TestCaseNameIs(const String& name)
+ : name_(name) {}
+
+ // Returns true iff the name of test_case matches name_.
+ bool operator()(const TestCase* test_case) const {
+ return test_case != NULL && strcmp(test_case->name(), name_.c_str()) == 0;
+ }
+
+ private:
+ String name_;
+};
+
+// Finds and returns a TestCase with the given name. If one doesn't
+// exist, creates one and returns it. It's the CALLER'S
+// RESPONSIBILITY to ensure that this function is only called WHEN THE
+// TESTS ARE NOT SHUFFLED.
+//
+// Arguments:
+//
+// test_case_name: name of the test case
+// type_param: the name of the test case's type parameter, or NULL if
+// this is not a typed or a type-parameterized test case.
+// set_up_tc: pointer to the function that sets up the test case
+// tear_down_tc: pointer to the function that tears down the test case
+TestCase* UnitTestImpl::GetTestCase(const char* test_case_name,
+ const char* type_param,
+ Test::SetUpTestCaseFunc set_up_tc,
+ Test::TearDownTestCaseFunc tear_down_tc) {
+ // Can we find a TestCase with the given name?
+ const std::vector<TestCase*>::const_iterator test_case =
+ std::find_if(test_cases_.begin(), test_cases_.end(),
+ TestCaseNameIs(test_case_name));
+
+ if (test_case != test_cases_.end())
+ return *test_case;
+
+ // No. Let's create one.
+ TestCase* const new_test_case =
+ new TestCase(test_case_name, type_param, set_up_tc, tear_down_tc);
+
+ // Is this a death test case?
+ if (internal::UnitTestOptions::MatchesFilter(String(test_case_name),
+ kDeathTestCaseFilter)) {
+ // Yes. Inserts the test case after the last death test case
+ // defined so far. This only works when the test cases haven't
+ // been shuffled. Otherwise we may end up running a death test
+ // after a non-death test.
+ ++last_death_test_case_;
+ test_cases_.insert(test_cases_.begin() + last_death_test_case_,
+ new_test_case);
+ } else {
+ // No. Appends to the end of the list.
+ test_cases_.push_back(new_test_case);
+ }
+
+ test_case_indices_.push_back(static_cast<int>(test_case_indices_.size()));
+ return new_test_case;
+}
+
+// Helpers for setting up / tearing down the given environment. They
+// are for use in the ForEach() function.
+static void SetUpEnvironment(Environment* env) { env->SetUp(); }
+static void TearDownEnvironment(Environment* env) { env->TearDown(); }
+
+// Runs all tests in this UnitTest object, prints the result, and
+// returns true if all tests are successful. If any exception is
+// thrown during a test, the test is considered to be failed, but the
+// rest of the tests will still be run.
+//
+// When parameterized tests are enabled, it expands and registers
+// parameterized tests first in RegisterParameterizedTests().
+// All other functions called from RunAllTests() may safely assume that
+// parameterized tests are ready to be counted and run.
+bool UnitTestImpl::RunAllTests() {
+ // Makes sure InitGoogleTest() was called.
+ if (!GTestIsInitialized()) {
+ printf("%s",
+ "\nThis test program did NOT call ::testing::InitGoogleTest "
+ "before calling RUN_ALL_TESTS(). Please fix it.\n");
+ return false;
+ }
+
+ // Do not run any test if the --help flag was specified.
+ if (g_help_flag)
+ return true;
+
+ // Repeats the call to the post-flag parsing initialization in case the
+ // user didn't call InitGoogleTest.
+ PostFlagParsingInit();
+
+ // Even if sharding is not on, test runners may want to use the
+ // GTEST_SHARD_STATUS_FILE to query whether the test supports the sharding
+ // protocol.
+ internal::WriteToShardStatusFileIfNeeded();
+
+ // True iff we are in a subprocess for running a thread-safe-style
+ // death test.
+ bool in_subprocess_for_death_test = false;
+
+#if GTEST_HAS_DEATH_TEST
+ in_subprocess_for_death_test = (internal_run_death_test_flag_.get() != NULL);
+#endif // GTEST_HAS_DEATH_TEST
+
+ const bool should_shard = ShouldShard(kTestTotalShards, kTestShardIndex,
+ in_subprocess_for_death_test);
+
+ // Compares the full test names with the filter to decide which
+ // tests to run.
+ const bool has_tests_to_run = FilterTests(should_shard
+ ? HONOR_SHARDING_PROTOCOL
+ : IGNORE_SHARDING_PROTOCOL) > 0;
+
+ // Lists the tests and exits if the --gtest_list_tests flag was specified.
+ if (GTEST_FLAG(list_tests)) {
+ // This must be called *after* FilterTests() has been called.
+ ListTestsMatchingFilter();
+ return true;
+ }
+
+ random_seed_ = GTEST_FLAG(shuffle) ?
+ GetRandomSeedFromFlag(GTEST_FLAG(random_seed)) : 0;
+
+ // True iff at least one test has failed.
+ bool failed = false;
+
+ TestEventListener* repeater = listeners()->repeater();
+
+ repeater->OnTestProgramStart(*parent_);
+
+ // How many times to repeat the tests? We don't want to repeat them
+ // when we are inside the subprocess of a death test.
+ const int repeat = in_subprocess_for_death_test ? 1 : GTEST_FLAG(repeat);
+ // Repeats forever if the repeat count is negative.
+ const bool forever = repeat < 0;
+ for (int i = 0; forever || i != repeat; i++) {
+ // We want to preserve failures generated by ad-hoc test
+ // assertions executed before RUN_ALL_TESTS().
+ ClearNonAdHocTestResult();
+
+ const TimeInMillis start = GetTimeInMillis();
+
+ // Shuffles test cases and tests if requested.
+ if (has_tests_to_run && GTEST_FLAG(shuffle)) {
+ random()->Reseed(random_seed_);
+ // This should be done before calling OnTestIterationStart(),
+ // such that a test event listener can see the actual test order
+ // in the event.
+ ShuffleTests();
+ }
+
+ // Tells the unit test event listeners that the tests are about to start.
+ repeater->OnTestIterationStart(*parent_, i);
+
+ // Runs each test case if there is at least one test to run.
+ if (has_tests_to_run) {
+ // Sets up all environments beforehand.
+ repeater->OnEnvironmentsSetUpStart(*parent_);
+ ForEach(environments_, SetUpEnvironment);
+ repeater->OnEnvironmentsSetUpEnd(*parent_);
+
+ // Runs the tests only if there was no fatal failure during global
+ // set-up.
+ if (!Test::HasFatalFailure()) {
+ for (int test_index = 0; test_index < total_test_case_count();
+ test_index++) {
+ GetMutableTestCase(test_index)->Run();
+ }
+ }
+
+ // Tears down all environments in reverse order afterwards.
+ repeater->OnEnvironmentsTearDownStart(*parent_);
+ std::for_each(environments_.rbegin(), environments_.rend(),
+ TearDownEnvironment);
+ repeater->OnEnvironmentsTearDownEnd(*parent_);
+ }
+
+ elapsed_time_ = GetTimeInMillis() - start;
+
+ // Tells the unit test event listener that the tests have just finished.
+ repeater->OnTestIterationEnd(*parent_, i);
+
+ // Gets the result and clears it.
+ if (!Passed()) {
+ failed = true;
+ }
+
+ // Restores the original test order after the iteration. This
+ // allows the user to quickly repro a failure that happens in the
+ // N-th iteration without repeating the first (N - 1) iterations.
+ // This is not enclosed in "if (GTEST_FLAG(shuffle)) { ... }", in
+ // case the user somehow changes the value of the flag somewhere
+ // (it's always safe to unshuffle the tests).
+ UnshuffleTests();
+
+ if (GTEST_FLAG(shuffle)) {
+ // Picks a new random seed for each iteration.
+ random_seed_ = GetNextRandomSeed(random_seed_);
+ }
+ }
+
+ repeater->OnTestProgramEnd(*parent_);
+
+ return !failed;
+}
+
+// Reads the GTEST_SHARD_STATUS_FILE environment variable, and creates the file
+// if the variable is present. If a file already exists at this location, this
+// function will write over it. If the variable is present, but the file cannot
+// be created, prints an error and exits.
+void WriteToShardStatusFileIfNeeded() {
+ const char* const test_shard_file = posix::GetEnv(kTestShardStatusFile);
+ if (test_shard_file != NULL) {
+ FILE* const file = posix::FOpen(test_shard_file, "w");
+ if (file == NULL) {
+ ColoredPrintf(COLOR_RED,
+ "Could not write to the test shard status file \"%s\" "
+ "specified by the %s environment variable.\n",
+ test_shard_file, kTestShardStatusFile);
+ fflush(stdout);
+ exit(EXIT_FAILURE);
+ }
+ fclose(file);
+ }
+}
+
+// Checks whether sharding is enabled by examining the relevant
+// environment variable values. If the variables are present,
+// but inconsistent (i.e., shard_index >= total_shards), prints
+// an error and exits. If in_subprocess_for_death_test, sharding is
+// disabled because it must only be applied to the original test
+// process. Otherwise, we could filter out death tests we intended to execute.
+bool ShouldShard(const char* total_shards_env,
+ const char* shard_index_env,
+ bool in_subprocess_for_death_test) {
+ if (in_subprocess_for_death_test) {
+ return false;
+ }
+
+ const Int32 total_shards = Int32FromEnvOrDie(total_shards_env, -1);
+ const Int32 shard_index = Int32FromEnvOrDie(shard_index_env, -1);
+
+ if (total_shards == -1 && shard_index == -1) {
+ return false;
+ } else if (total_shards == -1 && shard_index != -1) {
+ const Message msg = Message()
+ << "Invalid environment variables: you have "
+ << kTestShardIndex << " = " << shard_index
+ << ", but have left " << kTestTotalShards << " unset.\n";
+ ColoredPrintf(COLOR_RED, msg.GetString().c_str());
+ fflush(stdout);
+ exit(EXIT_FAILURE);
+ } else if (total_shards != -1 && shard_index == -1) {
+ const Message msg = Message()
+ << "Invalid environment variables: you have "
+ << kTestTotalShards << " = " << total_shards
+ << ", but have left " << kTestShardIndex << " unset.\n";
+ ColoredPrintf(COLOR_RED, msg.GetString().c_str());
+ fflush(stdout);
+ exit(EXIT_FAILURE);
+ } else if (shard_index < 0 || shard_index >= total_shards) {
+ const Message msg = Message()
+ << "Invalid environment variables: we require 0 <= "
+ << kTestShardIndex << " < " << kTestTotalShards
+ << ", but you have " << kTestShardIndex << "=" << shard_index
+ << ", " << kTestTotalShards << "=" << total_shards << ".\n";
+ ColoredPrintf(COLOR_RED, msg.GetString().c_str());
+ fflush(stdout);
+ exit(EXIT_FAILURE);
+ }
+
+ return total_shards > 1;
+}
+
+// Parses the environment variable var as an Int32. If it is unset,
+// returns default_val. If it is not an Int32, prints an error
+// and aborts.
+Int32 Int32FromEnvOrDie(const char* var, Int32 default_val) {
+ const char* str_val = posix::GetEnv(var);
+ if (str_val == NULL) {
+ return default_val;
+ }
+
+ Int32 result;
+ if (!ParseInt32(Message() << "The value of environment variable " << var,
+ str_val, &result)) {
+ exit(EXIT_FAILURE);
+ }
+ return result;
+}
+
+// Given the total number of shards, the shard index, and the test id,
+// returns true iff the test should be run on this shard. The test id is
+// some arbitrary but unique non-negative integer assigned to each test
+// method. Assumes that 0 <= shard_index < total_shards.
+bool ShouldRunTestOnShard(int total_shards, int shard_index, int test_id) {
+ return (test_id % total_shards) == shard_index;
+}
+
+// Compares the name of each test with the user-specified filter to
+// decide whether the test should be run, then records the result in
+// each TestCase and TestInfo object.
+// If shard_tests == true, further filters tests based on sharding
+// variables in the environment - see
+// http://code.google.com/p/googletest/wiki/GoogleTestAdvancedGuide.
+// Returns the number of tests that should run.
+int UnitTestImpl::FilterTests(ReactionToSharding shard_tests) {
+ const Int32 total_shards = shard_tests == HONOR_SHARDING_PROTOCOL ?
+ Int32FromEnvOrDie(kTestTotalShards, -1) : -1;
+ const Int32 shard_index = shard_tests == HONOR_SHARDING_PROTOCOL ?
+ Int32FromEnvOrDie(kTestShardIndex, -1) : -1;
+
+ // num_runnable_tests are the number of tests that will
+ // run across all shards (i.e., match filter and are not disabled).
+ // num_selected_tests are the number of tests to be run on
+ // this shard.
+ int num_runnable_tests = 0;
+ int num_selected_tests = 0;
+ for (size_t i = 0; i < test_cases_.size(); i++) {
+ TestCase* const test_case = test_cases_[i];
+ const String &test_case_name = test_case->name();
+ test_case->set_should_run(false);
+
+ for (size_t j = 0; j < test_case->test_info_list().size(); j++) {
+ TestInfo* const test_info = test_case->test_info_list()[j];
+ const String test_name(test_info->name());
+ // A test is disabled if test case name or test name matches
+ // kDisableTestFilter.
+ const bool is_disabled =
+ internal::UnitTestOptions::MatchesFilter(test_case_name,
+ kDisableTestFilter) ||
+ internal::UnitTestOptions::MatchesFilter(test_name,
+ kDisableTestFilter);
+ test_info->is_disabled_ = is_disabled;
+
+ const bool matches_filter =
+ internal::UnitTestOptions::FilterMatchesTest(test_case_name,
+ test_name);
+ test_info->matches_filter_ = matches_filter;
+
+ const bool is_runnable =
+ (GTEST_FLAG(also_run_disabled_tests) || !is_disabled) &&
+ matches_filter;
+
+ const bool is_selected = is_runnable &&
+ (shard_tests == IGNORE_SHARDING_PROTOCOL ||
+ ShouldRunTestOnShard(total_shards, shard_index,
+ num_runnable_tests));
+
+ num_runnable_tests += is_runnable;
+ num_selected_tests += is_selected;
+
+ test_info->should_run_ = is_selected;
+ test_case->set_should_run(test_case->should_run() || is_selected);
+ }
+ }
+ return num_selected_tests;
+}
+
+// Prints the names of the tests matching the user-specified filter flag.
+void UnitTestImpl::ListTestsMatchingFilter() {
+ for (size_t i = 0; i < test_cases_.size(); i++) {
+ const TestCase* const test_case = test_cases_[i];
+ bool printed_test_case_name = false;
+
+ for (size_t j = 0; j < test_case->test_info_list().size(); j++) {
+ const TestInfo* const test_info =
+ test_case->test_info_list()[j];
+ if (test_info->matches_filter_) {
+ if (!printed_test_case_name) {
+ printed_test_case_name = true;
+ printf("%s.\n", test_case->name());
+ }
+ printf(" %s\n", test_info->name());
+ }
+ }
+ }
+ fflush(stdout);
+}
+
+// Sets the OS stack trace getter.
+//
+// Does nothing if the input and the current OS stack trace getter are
+// the same; otherwise, deletes the old getter and makes the input the
+// current getter.
+void UnitTestImpl::set_os_stack_trace_getter(
+ OsStackTraceGetterInterface* getter) {
+ if (os_stack_trace_getter_ != getter) {
+ delete os_stack_trace_getter_;
+ os_stack_trace_getter_ = getter;
+ }
+}
+
+// Returns the current OS stack trace getter if it is not NULL;
+// otherwise, creates an OsStackTraceGetter, makes it the current
+// getter, and returns it.
+OsStackTraceGetterInterface* UnitTestImpl::os_stack_trace_getter() {
+ if (os_stack_trace_getter_ == NULL) {
+ os_stack_trace_getter_ = new OsStackTraceGetter;
+ }
+
+ return os_stack_trace_getter_;
+}
+
+// Returns the TestResult for the test that's currently running, or
+// the TestResult for the ad hoc test if no test is running.
+TestResult* UnitTestImpl::current_test_result() {
+ return current_test_info_ ?
+ &(current_test_info_->result_) : &ad_hoc_test_result_;
+}
+
+// Shuffles all test cases, and the tests within each test case,
+// making sure that death tests are still run first.
+void UnitTestImpl::ShuffleTests() {
+ // Shuffles the death test cases.
+ ShuffleRange(random(), 0, last_death_test_case_ + 1, &test_case_indices_);
+
+ // Shuffles the non-death test cases.
+ ShuffleRange(random(), last_death_test_case_ + 1,
+ static_cast<int>(test_cases_.size()), &test_case_indices_);
+
+ // Shuffles the tests inside each test case.
+ for (size_t i = 0; i < test_cases_.size(); i++) {
+ test_cases_[i]->ShuffleTests(random());
+ }
+}
+
+// Restores the test cases and tests to their order before the first shuffle.
+void UnitTestImpl::UnshuffleTests() {
+ for (size_t i = 0; i < test_cases_.size(); i++) {
+ // Unshuffles the tests in each test case.
+ test_cases_[i]->UnshuffleTests();
+ // Resets the index of each test case.
+ test_case_indices_[i] = static_cast<int>(i);
+ }
+}
+
+// Returns the current OS stack trace as a String.
+//
+// The maximum number of stack frames to be included is specified by
+// the gtest_stack_trace_depth flag. The skip_count parameter
+// specifies the number of top frames to be skipped, which doesn't
+// count against the number of frames to be included.
+//
+// For example, if Foo() calls Bar(), which in turn calls
+// GetCurrentOsStackTraceExceptTop(..., 1), Foo() will be included in
+// the trace but Bar() and GetCurrentOsStackTraceExceptTop() won't.
+String GetCurrentOsStackTraceExceptTop(UnitTest* /*unit_test*/,
+ int skip_count) {
+ // We pass skip_count + 1 to skip this wrapper function in addition
+ // to what the user really wants to skip.
+ return GetUnitTestImpl()->CurrentOsStackTraceExceptTop(skip_count + 1);
+}
+
+// Used by the GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_ macro to
+// suppress unreachable code warnings.
+namespace {
+class ClassUniqueToAlwaysTrue {};
+}
+
+bool IsTrue(bool condition) { return condition; }
+
+bool AlwaysTrue() {
+#if GTEST_HAS_EXCEPTIONS
+ // This condition is always false so AlwaysTrue() never actually throws,
+ // but it makes the compiler think that it may throw.
+ if (IsTrue(false))
+ throw ClassUniqueToAlwaysTrue();
+#endif // GTEST_HAS_EXCEPTIONS
+ return true;
+}
+
+// If *pstr starts with the given prefix, modifies *pstr to be right
+// past the prefix and returns true; otherwise leaves *pstr unchanged
+// and returns false. None of pstr, *pstr, and prefix can be NULL.
+bool SkipPrefix(const char* prefix, const char** pstr) {
+ const size_t prefix_len = strlen(prefix);
+ if (strncmp(*pstr, prefix, prefix_len) == 0) {
+ *pstr += prefix_len;
+ return true;
+ }
+ return false;
+}
+
+// Parses a string as a command line flag. The string should have
+// the format "--flag=value". When def_optional is true, the "=value"
+// part can be omitted.
+//
+// Returns the value of the flag, or NULL if the parsing failed.
+const char* ParseFlagValue(const char* str,
+ const char* flag,
+ bool def_optional) {
+ // str and flag must not be NULL.
+ if (str == NULL || flag == NULL) return NULL;
+
+ // The flag must start with "--" followed by GTEST_FLAG_PREFIX_.
+ const String flag_str = String::Format("--%s%s", GTEST_FLAG_PREFIX_, flag);
+ const size_t flag_len = flag_str.length();
+ if (strncmp(str, flag_str.c_str(), flag_len) != 0) return NULL;
+
+ // Skips the flag name.
+ const char* flag_end = str + flag_len;
+
+ // When def_optional is true, it's OK to not have a "=value" part.
+ if (def_optional && (flag_end[0] == '\0')) {
+ return flag_end;
+ }
+
+ // If def_optional is true and there are more characters after the
+ // flag name, or if def_optional is false, there must be a '=' after
+ // the flag name.
+ if (flag_end[0] != '=') return NULL;
+
+ // Returns the string after "=".
+ return flag_end + 1;
+}
+
+// Parses a string for a bool flag, in the form of either
+// "--flag=value" or "--flag".
+//
+// In the former case, the value is taken as true as long as it does
+// not start with '0', 'f', or 'F'.
+//
+// In the latter case, the value is taken as true.
+//
+// On success, stores the value of the flag in *value, and returns
+// true. On failure, returns false without changing *value.
+bool ParseBoolFlag(const char* str, const char* flag, bool* value) {
+ // Gets the value of the flag as a string.
+ const char* const value_str = ParseFlagValue(str, flag, true);
+
+ // Aborts if the parsing failed.
+ if (value_str == NULL) return false;
+
+ // Converts the string value to a bool.
+ *value = !(*value_str == '0' || *value_str == 'f' || *value_str == 'F');
+ return true;
+}
+
+// Parses a string for an Int32 flag, in the form of
+// "--flag=value".
+//
+// On success, stores the value of the flag in *value, and returns
+// true. On failure, returns false without changing *value.
+bool ParseInt32Flag(const char* str, const char* flag, Int32* value) {
+ // Gets the value of the flag as a string.
+ const char* const value_str = ParseFlagValue(str, flag, false);
+
+ // Aborts if the parsing failed.
+ if (value_str == NULL) return false;
+
+ // Sets *value to the value of the flag.
+ return ParseInt32(Message() << "The value of flag --" << flag,
+ value_str, value);
+}
+
+// Parses a string for a string flag, in the form of
+// "--flag=value".
+//
+// On success, stores the value of the flag in *value, and returns
+// true. On failure, returns false without changing *value.
+bool ParseStringFlag(const char* str, const char* flag, String* value) {
+ // Gets the value of the flag as a string.
+ const char* const value_str = ParseFlagValue(str, flag, false);
+
+ // Aborts if the parsing failed.
+ if (value_str == NULL) return false;
+
+ // Sets *value to the value of the flag.
+ *value = value_str;
+ return true;
+}
+
+// Determines whether a string has a prefix that Google Test uses for its
+// flags, i.e., starts with GTEST_FLAG_PREFIX_ or GTEST_FLAG_PREFIX_DASH_.
+// If Google Test detects that a command line flag has its prefix but is not
+// recognized, it will print its help message. Flags starting with
+// GTEST_INTERNAL_PREFIX_ followed by "internal_" are considered Google Test
+// internal flags and do not trigger the help message.
+static bool HasGoogleTestFlagPrefix(const char* str) {
+ return (SkipPrefix("--", &str) ||
+ SkipPrefix("-", &str) ||
+ SkipPrefix("/", &str)) &&
+ !SkipPrefix(GTEST_FLAG_PREFIX_ "internal_", &str) &&
+ (SkipPrefix(GTEST_FLAG_PREFIX_, &str) ||
+ SkipPrefix(GTEST_FLAG_PREFIX_DASH_, &str));
+}
+
+// Prints a string containing code-encoded text. The following escape
+// sequences can be used in the string to control the text color:
+//
+// @@ prints a single '@' character.
+// @R changes the color to red.
+// @G changes the color to green.
+// @Y changes the color to yellow.
+// @D changes to the default terminal text color.
+//
+// TODO(wan@google.com): Write tests for this once we add stdout
+// capturing to Google Test.
+static void PrintColorEncoded(const char* str) {
+ GTestColor color = COLOR_DEFAULT; // The current color.
+
+ // Conceptually, we split the string into segments divided by escape
+ // sequences. Then we print one segment at a time. At the end of
+ // each iteration, the str pointer advances to the beginning of the
+ // next segment.
+ for (;;) {
+ const char* p = strchr(str, '@');
+ if (p == NULL) {
+ ColoredPrintf(color, "%s", str);
+ return;
+ }
+
+ ColoredPrintf(color, "%s", String(str, p - str).c_str());
+
+ const char ch = p[1];
+ str = p + 2;
+ if (ch == '@') {
+ ColoredPrintf(color, "@");
+ } else if (ch == 'D') {
+ color = COLOR_DEFAULT;
+ } else if (ch == 'R') {
+ color = COLOR_RED;
+ } else if (ch == 'G') {
+ color = COLOR_GREEN;
+ } else if (ch == 'Y') {
+ color = COLOR_YELLOW;
+ } else {
+ --str;
+ }
+ }
+}
+
+static const char kColorEncodedHelpMessage[] =
+"This program contains tests written using " GTEST_NAME_ ". You can use the\n"
+"following command line flags to control its behavior:\n"
+"\n"
+"Test Selection:\n"
+" @G--" GTEST_FLAG_PREFIX_ "list_tests@D\n"
+" List the names of all tests instead of running them. The name of\n"
+" TEST(Foo, Bar) is \"Foo.Bar\".\n"
+" @G--" GTEST_FLAG_PREFIX_ "filter=@YPOSTIVE_PATTERNS"
+ "[@G-@YNEGATIVE_PATTERNS]@D\n"
+" Run only the tests whose name matches one of the positive patterns but\n"
+" none of the negative patterns. '?' matches any single character; '*'\n"
+" matches any substring; ':' separates two patterns.\n"
+" @G--" GTEST_FLAG_PREFIX_ "also_run_disabled_tests@D\n"
+" Run all disabled tests too.\n"
+"\n"
+"Test Execution:\n"
+" @G--" GTEST_FLAG_PREFIX_ "repeat=@Y[COUNT]@D\n"
+" Run the tests repeatedly; use a negative count to repeat forever.\n"
+" @G--" GTEST_FLAG_PREFIX_ "shuffle@D\n"
+" Randomize tests' orders on every iteration.\n"
+" @G--" GTEST_FLAG_PREFIX_ "random_seed=@Y[NUMBER]@D\n"
+" Random number seed to use for shuffling test orders (between 1 and\n"
+" 99999, or 0 to use a seed based on the current time).\n"
+"\n"
+"Test Output:\n"
+" @G--" GTEST_FLAG_PREFIX_ "color=@Y(@Gyes@Y|@Gno@Y|@Gauto@Y)@D\n"
+" Enable/disable colored output. The default is @Gauto@D.\n"
+" -@G-" GTEST_FLAG_PREFIX_ "print_time=0@D\n"
+" Don't print the elapsed time of each test.\n"
+" @G--" GTEST_FLAG_PREFIX_ "output=xml@Y[@G:@YDIRECTORY_PATH@G"
+ GTEST_PATH_SEP_ "@Y|@G:@YFILE_PATH]@D\n"
+" Generate an XML report in the given directory or with the given file\n"
+" name. @YFILE_PATH@D defaults to @Gtest_details.xml@D.\n"
+#if GTEST_CAN_STREAM_RESULTS_
+" @G--" GTEST_FLAG_PREFIX_ "stream_result_to=@YHOST@G:@YPORT@D\n"
+" Stream test results to the given server.\n"
+#endif // GTEST_CAN_STREAM_RESULTS_
+"\n"
+"Assertion Behavior:\n"
+#if GTEST_HAS_DEATH_TEST && !GTEST_OS_WINDOWS
+" @G--" GTEST_FLAG_PREFIX_ "death_test_style=@Y(@Gfast@Y|@Gthreadsafe@Y)@D\n"
+" Set the default death test style.\n"
+#endif // GTEST_HAS_DEATH_TEST && !GTEST_OS_WINDOWS
+" @G--" GTEST_FLAG_PREFIX_ "break_on_failure@D\n"
+" Turn assertion failures into debugger break-points.\n"
+" @G--" GTEST_FLAG_PREFIX_ "throw_on_failure@D\n"
+" Turn assertion failures into C++ exceptions.\n"
+" @G--" GTEST_FLAG_PREFIX_ "catch_exceptions=0@D\n"
+" Do not report exceptions as test failures. Instead, allow them\n"
+" to crash the program or throw a pop-up (on Windows).\n"
+"\n"
+"Except for @G--" GTEST_FLAG_PREFIX_ "list_tests@D, you can alternatively set "
+ "the corresponding\n"
+"environment variable of a flag (all letters in upper-case). For example, to\n"
+"disable colored text output, you can either specify @G--" GTEST_FLAG_PREFIX_
+ "color=no@D or set\n"
+"the @G" GTEST_FLAG_PREFIX_UPPER_ "COLOR@D environment variable to @Gno@D.\n"
+"\n"
+"For more information, please read the " GTEST_NAME_ " documentation at\n"
+"@G" GTEST_PROJECT_URL_ "@D. If you find a bug in " GTEST_NAME_ "\n"
+"(not one in your own code or tests), please report it to\n"
+"@G<" GTEST_DEV_EMAIL_ ">@D.\n";
+
+// Parses the command line for Google Test flags, without initializing
+// other parts of Google Test. The type parameter CharType can be
+// instantiated to either char or wchar_t.
+template <typename CharType>
+void ParseGoogleTestFlagsOnlyImpl(int* argc, CharType** argv) {
+ for (int i = 1; i < *argc; i++) {
+ const String arg_string = StreamableToString(argv[i]);
+ const char* const arg = arg_string.c_str();
+
+ using internal::ParseBoolFlag;
+ using internal::ParseInt32Flag;
+ using internal::ParseStringFlag;
+
+ // Do we see a Google Test flag?
+ if (ParseBoolFlag(arg, kAlsoRunDisabledTestsFlag,
+ >EST_FLAG(also_run_disabled_tests)) ||
+ ParseBoolFlag(arg, kBreakOnFailureFlag,
+ >EST_FLAG(break_on_failure)) ||
+ ParseBoolFlag(arg, kCatchExceptionsFlag,
+ >EST_FLAG(catch_exceptions)) ||
+ ParseStringFlag(arg, kColorFlag, >EST_FLAG(color)) ||
+ ParseStringFlag(arg, kDeathTestStyleFlag,
+ >EST_FLAG(death_test_style)) ||
+ ParseBoolFlag(arg, kDeathTestUseFork,
+ >EST_FLAG(death_test_use_fork)) ||
+ ParseStringFlag(arg, kFilterFlag, >EST_FLAG(filter)) ||
+ ParseStringFlag(arg, kInternalRunDeathTestFlag,
+ >EST_FLAG(internal_run_death_test)) ||
+ ParseBoolFlag(arg, kListTestsFlag, >EST_FLAG(list_tests)) ||
+ ParseStringFlag(arg, kOutputFlag, >EST_FLAG(output)) ||
+ ParseBoolFlag(arg, kPrintTimeFlag, >EST_FLAG(print_time)) ||
+ ParseInt32Flag(arg, kRandomSeedFlag, >EST_FLAG(random_seed)) ||
+ ParseInt32Flag(arg, kRepeatFlag, >EST_FLAG(repeat)) ||
+ ParseBoolFlag(arg, kShuffleFlag, >EST_FLAG(shuffle)) ||
+ ParseInt32Flag(arg, kStackTraceDepthFlag,
+ >EST_FLAG(stack_trace_depth)) ||
+ ParseStringFlag(arg, kStreamResultToFlag,
+ >EST_FLAG(stream_result_to)) ||
+ ParseBoolFlag(arg, kThrowOnFailureFlag,
+ >EST_FLAG(throw_on_failure))
+ ) {
+ // Yes. Shift the remainder of the argv list left by one. Note
+ // that argv has (*argc + 1) elements, the last one always being
+ // NULL. The following loop moves the trailing NULL element as
+ // well.
+ for (int j = i; j != *argc; j++) {
+ argv[j] = argv[j + 1];
+ }
+
+ // Decrements the argument count.
+ (*argc)--;
+
+ // We also need to decrement the iterator as we just removed
+ // an element.
+ i--;
+ } else if (arg_string == "--help" || arg_string == "-h" ||
+ arg_string == "-?" || arg_string == "/?" ||
+ HasGoogleTestFlagPrefix(arg)) {
+ // Both help flag and unrecognized Google Test flags (excluding
+ // internal ones) trigger help display.
+ g_help_flag = true;
+ }
+ }
+
+ if (g_help_flag) {
+ // We print the help here instead of in RUN_ALL_TESTS(), as the
+ // latter may not be called at all if the user is using Google
+ // Test with another testing framework.
+ PrintColorEncoded(kColorEncodedHelpMessage);
+ }
+}
+
+// Parses the command line for Google Test flags, without initializing
+// other parts of Google Test.
+void ParseGoogleTestFlagsOnly(int* argc, char** argv) {
+ ParseGoogleTestFlagsOnlyImpl(argc, argv);
+}
+void ParseGoogleTestFlagsOnly(int* argc, wchar_t** argv) {
+ ParseGoogleTestFlagsOnlyImpl(argc, argv);
+}
+
+// The internal implementation of InitGoogleTest().
+//
+// The type parameter CharType can be instantiated to either char or
+// wchar_t.
+template <typename CharType>
+void InitGoogleTestImpl(int* argc, CharType** argv) {
+ g_init_gtest_count++;
+
+ // We don't want to run the initialization code twice.
+ if (g_init_gtest_count != 1) return;
+
+ if (*argc <= 0) return;
+
+ internal::g_executable_path = internal::StreamableToString(argv[0]);
+
+#if GTEST_HAS_DEATH_TEST
+
+ g_argvs.clear();
+ for (int i = 0; i != *argc; i++) {
+ g_argvs.push_back(StreamableToString(argv[i]));
+ }
+
+#endif // GTEST_HAS_DEATH_TEST
+
+ ParseGoogleTestFlagsOnly(argc, argv);
+ GetUnitTestImpl()->PostFlagParsingInit();
+}
+
+} // namespace internal
+
+// Initializes Google Test. This must be called before calling
+// RUN_ALL_TESTS(). In particular, it parses a command line for the
+// flags that Google Test recognizes. Whenever a Google Test flag is
+// seen, it is removed from argv, and *argc is decremented.
+//
+// No value is returned. Instead, the Google Test flag variables are
+// updated.
+//
+// Calling the function for the second time has no user-visible effect.
+void InitGoogleTest(int* argc, char** argv) {
+ internal::InitGoogleTestImpl(argc, argv);
+}
+
+// This overloaded version can be used in Windows programs compiled in
+// UNICODE mode.
+void InitGoogleTest(int* argc, wchar_t** argv) {
+ internal::InitGoogleTestImpl(argc, argv);
+}
+
+} // namespace testing
+// Copyright 2005, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan), vladl@google.com (Vlad Losev)
+//
+// This file implements death tests.
+
+
+#if GTEST_HAS_DEATH_TEST
+
+# if GTEST_OS_MAC
+# include <crt_externs.h>
+# endif // GTEST_OS_MAC
+
+# include <errno.h>
+# include <fcntl.h>
+# include <limits.h>
+# include <stdarg.h>
+
+# if GTEST_OS_WINDOWS
+# include <windows.h>
+# else
+# include <sys/mman.h>
+# include <sys/wait.h>
+# endif // GTEST_OS_WINDOWS
+
+#endif // GTEST_HAS_DEATH_TEST
+
+
+// Indicates that this translation unit is part of Google Test's
+// implementation. It must come before gtest-internal-inl.h is
+// included, or there will be a compiler error. This trick is to
+// prevent a user from accidentally including gtest-internal-inl.h in
+// his code.
+#define GTEST_IMPLEMENTATION_ 1
+#undef GTEST_IMPLEMENTATION_
+
+namespace testing {
+
+// Constants.
+
+// The default death test style.
+static const char kDefaultDeathTestStyle[] = "fast";
+
+GTEST_DEFINE_string_(
+ death_test_style,
+ internal::StringFromGTestEnv("death_test_style", kDefaultDeathTestStyle),
+ "Indicates how to run a death test in a forked child process: "
+ "\"threadsafe\" (child process re-executes the test binary "
+ "from the beginning, running only the specific death test) or "
+ "\"fast\" (child process runs the death test immediately "
+ "after forking).");
+
+GTEST_DEFINE_bool_(
+ death_test_use_fork,
+ internal::BoolFromGTestEnv("death_test_use_fork", false),
+ "Instructs to use fork()/_exit() instead of clone() in death tests. "
+ "Ignored and always uses fork() on POSIX systems where clone() is not "
+ "implemented. Useful when running under valgrind or similar tools if "
+ "those do not support clone(). Valgrind 3.3.1 will just fail if "
+ "it sees an unsupported combination of clone() flags. "
+ "It is not recommended to use this flag w/o valgrind though it will "
+ "work in 99% of the cases. Once valgrind is fixed, this flag will "
+ "most likely be removed.");
+
+namespace internal {
+GTEST_DEFINE_string_(
+ internal_run_death_test, "",
+ "Indicates the file, line number, temporal index of "
+ "the single death test to run, and a file descriptor to "
+ "which a success code may be sent, all separated by "
+ "colons. This flag is specified if and only if the current "
+ "process is a sub-process launched for running a thread-safe "
+ "death test. FOR INTERNAL USE ONLY.");
+} // namespace internal
+
+#if GTEST_HAS_DEATH_TEST
+
+// ExitedWithCode constructor.
+ExitedWithCode::ExitedWithCode(int exit_code) : exit_code_(exit_code) {
+}
+
+// ExitedWithCode function-call operator.
+bool ExitedWithCode::operator()(int exit_status) const {
+# if GTEST_OS_WINDOWS
+
+ return exit_status == exit_code_;
+
+# else
+
+ return WIFEXITED(exit_status) && WEXITSTATUS(exit_status) == exit_code_;
+
+# endif // GTEST_OS_WINDOWS
+}
+
+# if !GTEST_OS_WINDOWS
+// KilledBySignal constructor.
+KilledBySignal::KilledBySignal(int signum) : signum_(signum) {
+}
+
+// KilledBySignal function-call operator.
+bool KilledBySignal::operator()(int exit_status) const {
+ return WIFSIGNALED(exit_status) && WTERMSIG(exit_status) == signum_;
+}
+# endif // !GTEST_OS_WINDOWS
+
+namespace internal {
+
+// Utilities needed for death tests.
+
+// Generates a textual description of a given exit code, in the format
+// specified by wait(2).
+static String ExitSummary(int exit_code) {
+ Message m;
+
+# if GTEST_OS_WINDOWS
+
+ m << "Exited with exit status " << exit_code;
+
+# else
+
+ if (WIFEXITED(exit_code)) {
+ m << "Exited with exit status " << WEXITSTATUS(exit_code);
+ } else if (WIFSIGNALED(exit_code)) {
+ m << "Terminated by signal " << WTERMSIG(exit_code);
+ }
+# ifdef WCOREDUMP
+ if (WCOREDUMP(exit_code)) {
+ m << " (core dumped)";
+ }
+# endif
+# endif // GTEST_OS_WINDOWS
+
+ return m.GetString();
+}
+
+// Returns true if exit_status describes a process that was terminated
+// by a signal, or exited normally with a nonzero exit code.
+bool ExitedUnsuccessfully(int exit_status) {
+ return !ExitedWithCode(0)(exit_status);
+}
+
+# if !GTEST_OS_WINDOWS
+// Generates a textual failure message when a death test finds more than
+// one thread running, or cannot determine the number of threads, prior
+// to executing the given statement. It is the responsibility of the
+// caller not to pass a thread_count of 1.
+static String DeathTestThreadWarning(size_t thread_count) {
+ Message msg;
+ msg << "Death tests use fork(), which is unsafe particularly"
+ << " in a threaded context. For this test, " << GTEST_NAME_ << " ";
+ if (thread_count == 0)
+ msg << "couldn't detect the number of threads.";
+ else
+ msg << "detected " << thread_count << " threads.";
+ return msg.GetString();
+}
+# endif // !GTEST_OS_WINDOWS
+
+// Flag characters for reporting a death test that did not die.
+static const char kDeathTestLived = 'L';
+static const char kDeathTestReturned = 'R';
+static const char kDeathTestThrew = 'T';
+static const char kDeathTestInternalError = 'I';
+
+// An enumeration describing all of the possible ways that a death test can
+// conclude. DIED means that the process died while executing the test
+// code; LIVED means that process lived beyond the end of the test code;
+// RETURNED means that the test statement attempted to execute a return
+// statement, which is not allowed; THREW means that the test statement
+// returned control by throwing an exception. IN_PROGRESS means the test
+// has not yet concluded.
+// TODO(vladl@google.com): Unify names and possibly values for
+// AbortReason, DeathTestOutcome, and flag characters above.
+enum DeathTestOutcome { IN_PROGRESS, DIED, LIVED, RETURNED, THREW };
+
+// Routine for aborting the program which is safe to call from an
+// exec-style death test child process, in which case the error
+// message is propagated back to the parent process. Otherwise, the
+// message is simply printed to stderr. In either case, the program
+// then exits with status 1.
+void DeathTestAbort(const String& message) {
+ // On a POSIX system, this function may be called from a threadsafe-style
+ // death test child process, which operates on a very small stack. Use
+ // the heap for any additional non-minuscule memory requirements.
+ const InternalRunDeathTestFlag* const flag =
+ GetUnitTestImpl()->internal_run_death_test_flag();
+ if (flag != NULL) {
+ FILE* parent = posix::FDOpen(flag->write_fd(), "w");
+ fputc(kDeathTestInternalError, parent);
+ fprintf(parent, "%s", message.c_str());
+ fflush(parent);
+ _exit(1);
+ } else {
+ fprintf(stderr, "%s", message.c_str());
+ fflush(stderr);
+ posix::Abort();
+ }
+}
+
+// A replacement for CHECK that calls DeathTestAbort if the assertion
+// fails.
+# define GTEST_DEATH_TEST_CHECK_(expression) \
+ do { \
+ if (!::testing::internal::IsTrue(expression)) { \
+ DeathTestAbort(::testing::internal::String::Format( \
+ "CHECK failed: File %s, line %d: %s", \
+ __FILE__, __LINE__, #expression)); \
+ } \
+ } while (::testing::internal::AlwaysFalse())
+
+// This macro is similar to GTEST_DEATH_TEST_CHECK_, but it is meant for
+// evaluating any system call that fulfills two conditions: it must return
+// -1 on failure, and set errno to EINTR when it is interrupted and
+// should be tried again. The macro expands to a loop that repeatedly
+// evaluates the expression as long as it evaluates to -1 and sets
+// errno to EINTR. If the expression evaluates to -1 but errno is
+// something other than EINTR, DeathTestAbort is called.
+# define GTEST_DEATH_TEST_CHECK_SYSCALL_(expression) \
+ do { \
+ int gtest_retval; \
+ do { \
+ gtest_retval = (expression); \
+ } while (gtest_retval == -1 && errno == EINTR); \
+ if (gtest_retval == -1) { \
+ DeathTestAbort(::testing::internal::String::Format( \
+ "CHECK failed: File %s, line %d: %s != -1", \
+ __FILE__, __LINE__, #expression)); \
+ } \
+ } while (::testing::internal::AlwaysFalse())
+
+// Returns the message describing the last system error in errno.
+String GetLastErrnoDescription() {
+ return String(errno == 0 ? "" : posix::StrError(errno));
+}
+
+// This is called from a death test parent process to read a failure
+// message from the death test child process and log it with the FATAL
+// severity. On Windows, the message is read from a pipe handle. On other
+// platforms, it is read from a file descriptor.
+static void FailFromInternalError(int fd) {
+ Message error;
+ char buffer[256];
+ int num_read;
+
+ do {
+ while ((num_read = posix::Read(fd, buffer, 255)) > 0) {
+ buffer[num_read] = '\0';
+ error << buffer;
+ }
+ } while (num_read == -1 && errno == EINTR);
+
+ if (num_read == 0) {
+ GTEST_LOG_(FATAL) << error.GetString();
+ } else {
+ const int last_error = errno;
+ GTEST_LOG_(FATAL) << "Error while reading death test internal: "
+ << GetLastErrnoDescription() << " [" << last_error << "]";
+ }
+}
+
+// Death test constructor. Increments the running death test count
+// for the current test.
+DeathTest::DeathTest() {
+ TestInfo* const info = GetUnitTestImpl()->current_test_info();
+ if (info == NULL) {
+ DeathTestAbort("Cannot run a death test outside of a TEST or "
+ "TEST_F construct");
+ }
+}
+
+// Creates and returns a death test by dispatching to the current
+// death test factory.
+bool DeathTest::Create(const char* statement, const RE* regex,
+ const char* file, int line, DeathTest** test) {
+ return GetUnitTestImpl()->death_test_factory()->Create(
+ statement, regex, file, line, test);
+}
+
+const char* DeathTest::LastMessage() {
+ return last_death_test_message_.c_str();
+}
+
+void DeathTest::set_last_death_test_message(const String& message) {
+ last_death_test_message_ = message;
+}
+
+String DeathTest::last_death_test_message_;
+
+// Provides cross platform implementation for some death functionality.
+class DeathTestImpl : public DeathTest {
+ protected:
+ DeathTestImpl(const char* a_statement, const RE* a_regex)
+ : statement_(a_statement),
+ regex_(a_regex),
+ spawned_(false),
+ status_(-1),
+ outcome_(IN_PROGRESS),
+ read_fd_(-1),
+ write_fd_(-1) {}
+
+ // read_fd_ is expected to be closed and cleared by a derived class.
+ ~DeathTestImpl() { GTEST_DEATH_TEST_CHECK_(read_fd_ == -1); }
+
+ void Abort(AbortReason reason);
+ virtual bool Passed(bool status_ok);
+
+ const char* statement() const { return statement_; }
+ const RE* regex() const { return regex_; }
+ bool spawned() const { return spawned_; }
+ void set_spawned(bool is_spawned) { spawned_ = is_spawned; }
+ int status() const { return status_; }
+ void set_status(int a_status) { status_ = a_status; }
+ DeathTestOutcome outcome() const { return outcome_; }
+ void set_outcome(DeathTestOutcome an_outcome) { outcome_ = an_outcome; }
+ int read_fd() const { return read_fd_; }
+ void set_read_fd(int fd) { read_fd_ = fd; }
+ int write_fd() const { return write_fd_; }
+ void set_write_fd(int fd) { write_fd_ = fd; }
+
+ // Called in the parent process only. Reads the result code of the death
+ // test child process via a pipe, interprets it to set the outcome_
+ // member, and closes read_fd_. Outputs diagnostics and terminates in
+ // case of unexpected codes.
+ void ReadAndInterpretStatusByte();
+
+ private:
+ // The textual content of the code this object is testing. This class
+ // doesn't own this string and should not attempt to delete it.
+ const char* const statement_;
+ // The regular expression which test output must match. DeathTestImpl
+ // doesn't own this object and should not attempt to delete it.
+ const RE* const regex_;
+ // True if the death test child process has been successfully spawned.
+ bool spawned_;
+ // The exit status of the child process.
+ int status_;
+ // How the death test concluded.
+ DeathTestOutcome outcome_;
+ // Descriptor to the read end of the pipe to the child process. It is
+ // always -1 in the child process. The child keeps its write end of the
+ // pipe in write_fd_.
+ int read_fd_;
+ // Descriptor to the child's write end of the pipe to the parent process.
+ // It is always -1 in the parent process. The parent keeps its end of the
+ // pipe in read_fd_.
+ int write_fd_;
+};
+
+// Called in the parent process only. Reads the result code of the death
+// test child process via a pipe, interprets it to set the outcome_
+// member, and closes read_fd_. Outputs diagnostics and terminates in
+// case of unexpected codes.
+void DeathTestImpl::ReadAndInterpretStatusByte() {
+ char flag;
+ int bytes_read;
+
+ // The read() here blocks until data is available (signifying the
+ // failure of the death test) or until the pipe is closed (signifying
+ // its success), so it's okay to call this in the parent before
+ // the child process has exited.
+ do {
+ bytes_read = posix::Read(read_fd(), &flag, 1);
+ } while (bytes_read == -1 && errno == EINTR);
+
+ if (bytes_read == 0) {
+ set_outcome(DIED);
+ } else if (bytes_read == 1) {
+ switch (flag) {
+ case kDeathTestReturned:
+ set_outcome(RETURNED);
+ break;
+ case kDeathTestThrew:
+ set_outcome(THREW);
+ break;
+ case kDeathTestLived:
+ set_outcome(LIVED);
+ break;
+ case kDeathTestInternalError:
+ FailFromInternalError(read_fd()); // Does not return.
+ break;
+ default:
+ GTEST_LOG_(FATAL) << "Death test child process reported "
+ << "unexpected status byte ("
+ << static_cast<unsigned int>(flag) << ")";
+ }
+ } else {
+ GTEST_LOG_(FATAL) << "Read from death test child process failed: "
+ << GetLastErrnoDescription();
+ }
+ GTEST_DEATH_TEST_CHECK_SYSCALL_(posix::Close(read_fd()));
+ set_read_fd(-1);
+}
+
+// Signals that the death test code which should have exited, didn't.
+// Should be called only in a death test child process.
+// Writes a status byte to the child's status file descriptor, then
+// calls _exit(1).
+void DeathTestImpl::Abort(AbortReason reason) {
+ // The parent process considers the death test to be a failure if
+ // it finds any data in our pipe. So, here we write a single flag byte
+ // to the pipe, then exit.
+ const char status_ch =
+ reason == TEST_DID_NOT_DIE ? kDeathTestLived :
+ reason == TEST_THREW_EXCEPTION ? kDeathTestThrew : kDeathTestReturned;
+
+ GTEST_DEATH_TEST_CHECK_SYSCALL_(posix::Write(write_fd(), &status_ch, 1));
+ // We are leaking the descriptor here because on some platforms (i.e.,
+ // when built as Windows DLL), destructors of global objects will still
+ // run after calling _exit(). On such systems, write_fd_ will be
+ // indirectly closed from the destructor of UnitTestImpl, causing double
+ // close if it is also closed here. On debug configurations, double close
+ // may assert. As there are no in-process buffers to flush here, we are
+ // relying on the OS to close the descriptor after the process terminates
+ // when the destructors are not run.
+ _exit(1); // Exits w/o any normal exit hooks (we were supposed to crash)
+}
+
+// Returns an indented copy of stderr output for a death test.
+// This makes distinguishing death test output lines from regular log lines
+// much easier.
+static ::std::string FormatDeathTestOutput(const ::std::string& output) {
+ ::std::string ret;
+ for (size_t at = 0; ; ) {
+ const size_t line_end = output.find('\n', at);
+ ret += "[ DEATH ] ";
+ if (line_end == ::std::string::npos) {
+ ret += output.substr(at);
+ break;
+ }
+ ret += output.substr(at, line_end + 1 - at);
+ at = line_end + 1;
+ }
+ return ret;
+}
+
+// Assesses the success or failure of a death test, using both private
+// members which have previously been set, and one argument:
+//
+// Private data members:
+// outcome: An enumeration describing how the death test
+// concluded: DIED, LIVED, THREW, or RETURNED. The death test
+// fails in the latter three cases.
+// status: The exit status of the child process. On *nix, it is in the
+// in the format specified by wait(2). On Windows, this is the
+// value supplied to the ExitProcess() API or a numeric code
+// of the exception that terminated the program.
+// regex: A regular expression object to be applied to
+// the test's captured standard error output; the death test
+// fails if it does not match.
+//
+// Argument:
+// status_ok: true if exit_status is acceptable in the context of
+// this particular death test, which fails if it is false
+//
+// Returns true iff all of the above conditions are met. Otherwise, the
+// first failing condition, in the order given above, is the one that is
+// reported. Also sets the last death test message string.
+bool DeathTestImpl::Passed(bool status_ok) {
+ if (!spawned())
+ return false;
+
+ const String error_message = GetCapturedStderr();
+
+ bool success = false;
+ Message buffer;
+
+ buffer << "Death test: " << statement() << "\n";
+ switch (outcome()) {
+ case LIVED:
+ buffer << " Result: failed to die.\n"
+ << " Error msg:\n" << FormatDeathTestOutput(error_message);
+ break;
+ case THREW:
+ buffer << " Result: threw an exception.\n"
+ << " Error msg:\n" << FormatDeathTestOutput(error_message);
+ break;
+ case RETURNED:
+ buffer << " Result: illegal return in test statement.\n"
+ << " Error msg:\n" << FormatDeathTestOutput(error_message);
+ break;
+ case DIED:
+ if (status_ok) {
+ const bool matched = RE::PartialMatch(error_message.c_str(), *regex());
+ if (matched) {
+ success = true;
+ } else {
+ buffer << " Result: died but not with expected error.\n"
+ << " Expected: " << regex()->pattern() << "\n"
+ << "Actual msg:\n" << FormatDeathTestOutput(error_message);
+ }
+ } else {
+ buffer << " Result: died but not with expected exit code:\n"
+ << " " << ExitSummary(status()) << "\n"
+ << "Actual msg:\n" << FormatDeathTestOutput(error_message);
+ }
+ break;
+ case IN_PROGRESS:
+ default:
+ GTEST_LOG_(FATAL)
+ << "DeathTest::Passed somehow called before conclusion of test";
+ }
+
+ DeathTest::set_last_death_test_message(buffer.GetString());
+ return success;
+}
+
+# if GTEST_OS_WINDOWS
+// WindowsDeathTest implements death tests on Windows. Due to the
+// specifics of starting new processes on Windows, death tests there are
+// always threadsafe, and Google Test considers the
+// --gtest_death_test_style=fast setting to be equivalent to
+// --gtest_death_test_style=threadsafe there.
+//
+// A few implementation notes: Like the Linux version, the Windows
+// implementation uses pipes for child-to-parent communication. But due to
+// the specifics of pipes on Windows, some extra steps are required:
+//
+// 1. The parent creates a communication pipe and stores handles to both
+// ends of it.
+// 2. The parent starts the child and provides it with the information
+// necessary to acquire the handle to the write end of the pipe.
+// 3. The child acquires the write end of the pipe and signals the parent
+// using a Windows event.
+// 4. Now the parent can release the write end of the pipe on its side. If
+// this is done before step 3, the object's reference count goes down to
+// 0 and it is destroyed, preventing the child from acquiring it. The
+// parent now has to release it, or read operations on the read end of
+// the pipe will not return when the child terminates.
+// 5. The parent reads child's output through the pipe (outcome code and
+// any possible error messages) from the pipe, and its stderr and then
+// determines whether to fail the test.
+//
+// Note: to distinguish Win32 API calls from the local method and function
+// calls, the former are explicitly resolved in the global namespace.
+//
+class WindowsDeathTest : public DeathTestImpl {
+ public:
+ WindowsDeathTest(const char* a_statement,
+ const RE* a_regex,
+ const char* file,
+ int line)
+ : DeathTestImpl(a_statement, a_regex), file_(file), line_(line) {}
+
+ // All of these virtual functions are inherited from DeathTest.
+ virtual int Wait();
+ virtual TestRole AssumeRole();
+
+ private:
+ // The name of the file in which the death test is located.
+ const char* const file_;
+ // The line number on which the death test is located.
+ const int line_;
+ // Handle to the write end of the pipe to the child process.
+ AutoHandle write_handle_;
+ // Child process handle.
+ AutoHandle child_handle_;
+ // Event the child process uses to signal the parent that it has
+ // acquired the handle to the write end of the pipe. After seeing this
+ // event the parent can release its own handles to make sure its
+ // ReadFile() calls return when the child terminates.
+ AutoHandle event_handle_;
+};
+
+// Waits for the child in a death test to exit, returning its exit
+// status, or 0 if no child process exists. As a side effect, sets the
+// outcome data member.
+int WindowsDeathTest::Wait() {
+ if (!spawned())
+ return 0;
+
+ // Wait until the child either signals that it has acquired the write end
+ // of the pipe or it dies.
+ const HANDLE wait_handles[2] = { child_handle_.Get(), event_handle_.Get() };
+ switch (::WaitForMultipleObjects(2,
+ wait_handles,
+ FALSE, // Waits for any of the handles.
+ INFINITE)) {
+ case WAIT_OBJECT_0:
+ case WAIT_OBJECT_0 + 1:
+ break;
+ default:
+ GTEST_DEATH_TEST_CHECK_(false); // Should not get here.
+ }
+
+ // The child has acquired the write end of the pipe or exited.
+ // We release the handle on our side and continue.
+ write_handle_.Reset();
+ event_handle_.Reset();
+
+ ReadAndInterpretStatusByte();
+
+ // Waits for the child process to exit if it haven't already. This
+ // returns immediately if the child has already exited, regardless of
+ // whether previous calls to WaitForMultipleObjects synchronized on this
+ // handle or not.
+ GTEST_DEATH_TEST_CHECK_(
+ WAIT_OBJECT_0 == ::WaitForSingleObject(child_handle_.Get(),
+ INFINITE));
+ DWORD status_code;
+ GTEST_DEATH_TEST_CHECK_(
+ ::GetExitCodeProcess(child_handle_.Get(), &status_code) != FALSE);
+ child_handle_.Reset();
+ set_status(static_cast<int>(status_code));
+ return status();
+}
+
+// The AssumeRole process for a Windows death test. It creates a child
+// process with the same executable as the current process to run the
+// death test. The child process is given the --gtest_filter and
+// --gtest_internal_run_death_test flags such that it knows to run the
+// current death test only.
+DeathTest::TestRole WindowsDeathTest::AssumeRole() {
+ const UnitTestImpl* const impl = GetUnitTestImpl();
+ const InternalRunDeathTestFlag* const flag =
+ impl->internal_run_death_test_flag();
+ const TestInfo* const info = impl->current_test_info();
+ const int death_test_index = info->result()->death_test_count();
+
+ if (flag != NULL) {
+ // ParseInternalRunDeathTestFlag() has performed all the necessary
+ // processing.
+ set_write_fd(flag->write_fd());
+ return EXECUTE_TEST;
+ }
+
+ // WindowsDeathTest uses an anonymous pipe to communicate results of
+ // a death test.
+ SECURITY_ATTRIBUTES handles_are_inheritable = {
+ sizeof(SECURITY_ATTRIBUTES), NULL, TRUE };
+ HANDLE read_handle, write_handle;
+ GTEST_DEATH_TEST_CHECK_(
+ ::CreatePipe(&read_handle, &write_handle, &handles_are_inheritable,
+ 0) // Default buffer size.
+ != FALSE);
+ set_read_fd(::_open_osfhandle(reinterpret_cast<intptr_t>(read_handle),
+ O_RDONLY));
+ write_handle_.Reset(write_handle);
+ event_handle_.Reset(::CreateEvent(
+ &handles_are_inheritable,
+ TRUE, // The event will automatically reset to non-signaled state.
+ FALSE, // The initial state is non-signalled.
+ NULL)); // The even is unnamed.
+ GTEST_DEATH_TEST_CHECK_(event_handle_.Get() != NULL);
+ const String filter_flag = String::Format("--%s%s=%s.%s",
+ GTEST_FLAG_PREFIX_, kFilterFlag,
+ info->test_case_name(),
+ info->name());
+ const String internal_flag = String::Format(
+ "--%s%s=%s|%d|%d|%u|%Iu|%Iu",
+ GTEST_FLAG_PREFIX_,
+ kInternalRunDeathTestFlag,
+ file_, line_,
+ death_test_index,
+ static_cast<unsigned int>(::GetCurrentProcessId()),
+ // size_t has the same with as pointers on both 32-bit and 64-bit
+ // Windows platforms.
+ // See http://msdn.microsoft.com/en-us/library/tcxf1dw6.aspx.
+ reinterpret_cast<size_t>(write_handle),
+ reinterpret_cast<size_t>(event_handle_.Get()));
+
+ char executable_path[_MAX_PATH + 1]; // NOLINT
+ GTEST_DEATH_TEST_CHECK_(
+ _MAX_PATH + 1 != ::GetModuleFileNameA(NULL,
+ executable_path,
+ _MAX_PATH));
+
+ String command_line = String::Format("%s %s \"%s\"",
+ ::GetCommandLineA(),
+ filter_flag.c_str(),
+ internal_flag.c_str());
+
+ DeathTest::set_last_death_test_message("");
+
+ CaptureStderr();
+ // Flush the log buffers since the log streams are shared with the child.
+ FlushInfoLog();
+
+ // The child process will share the standard handles with the parent.
+ STARTUPINFOA startup_info;
+ memset(&startup_info, 0, sizeof(STARTUPINFO));
+ startup_info.dwFlags = STARTF_USESTDHANDLES;
+ startup_info.hStdInput = ::GetStdHandle(STD_INPUT_HANDLE);
+ startup_info.hStdOutput = ::GetStdHandle(STD_OUTPUT_HANDLE);
+ startup_info.hStdError = ::GetStdHandle(STD_ERROR_HANDLE);
+
+ PROCESS_INFORMATION process_info;
+ GTEST_DEATH_TEST_CHECK_(::CreateProcessA(
+ executable_path,
+ const_cast<char*>(command_line.c_str()),
+ NULL, // Retuned process handle is not inheritable.
+ NULL, // Retuned thread handle is not inheritable.
+ TRUE, // Child inherits all inheritable handles (for write_handle_).
+ 0x0, // Default creation flags.
+ NULL, // Inherit the parent's environment.
+ UnitTest::GetInstance()->original_working_dir(),
+ &startup_info,
+ &process_info) != FALSE);
+ child_handle_.Reset(process_info.hProcess);
+ ::CloseHandle(process_info.hThread);
+ set_spawned(true);
+ return OVERSEE_TEST;
+}
+# else // We are not on Windows.
+
+// ForkingDeathTest provides implementations for most of the abstract
+// methods of the DeathTest interface. Only the AssumeRole method is
+// left undefined.
+class ForkingDeathTest : public DeathTestImpl {
+ public:
+ ForkingDeathTest(const char* statement, const RE* regex);
+
+ // All of these virtual functions are inherited from DeathTest.
+ virtual int Wait();
+
+ protected:
+ void set_child_pid(pid_t child_pid) { child_pid_ = child_pid; }
+
+ private:
+ // PID of child process during death test; 0 in the child process itself.
+ pid_t child_pid_;
+};
+
+// Constructs a ForkingDeathTest.
+ForkingDeathTest::ForkingDeathTest(const char* a_statement, const RE* a_regex)
+ : DeathTestImpl(a_statement, a_regex),
+ child_pid_(-1) {}
+
+// Waits for the child in a death test to exit, returning its exit
+// status, or 0 if no child process exists. As a side effect, sets the
+// outcome data member.
+int ForkingDeathTest::Wait() {
+ if (!spawned())
+ return 0;
+
+ ReadAndInterpretStatusByte();
+
+ int status_value;
+ GTEST_DEATH_TEST_CHECK_SYSCALL_(waitpid(child_pid_, &status_value, 0));
+ set_status(status_value);
+ return status_value;
+}
+
+// A concrete death test class that forks, then immediately runs the test
+// in the child process.
+class NoExecDeathTest : public ForkingDeathTest {
+ public:
+ NoExecDeathTest(const char* a_statement, const RE* a_regex) :
+ ForkingDeathTest(a_statement, a_regex) { }
+ virtual TestRole AssumeRole();
+};
+
+// The AssumeRole process for a fork-and-run death test. It implements a
+// straightforward fork, with a simple pipe to transmit the status byte.
+DeathTest::TestRole NoExecDeathTest::AssumeRole() {
+ const size_t thread_count = GetThreadCount();
+ if (thread_count != 1) {
+ GTEST_LOG_(WARNING) << DeathTestThreadWarning(thread_count);
+ }
+
+ int pipe_fd[2];
+ GTEST_DEATH_TEST_CHECK_(pipe(pipe_fd) != -1);
+
+ DeathTest::set_last_death_test_message("");
+ CaptureStderr();
+ // When we fork the process below, the log file buffers are copied, but the
+ // file descriptors are shared. We flush all log files here so that closing
+ // the file descriptors in the child process doesn't throw off the
+ // synchronization between descriptors and buffers in the parent process.
+ // This is as close to the fork as possible to avoid a race condition in case
+ // there are multiple threads running before the death test, and another
+ // thread writes to the log file.
+ FlushInfoLog();
+
+ const pid_t child_pid = fork();
+ GTEST_DEATH_TEST_CHECK_(child_pid != -1);
+ set_child_pid(child_pid);
+ if (child_pid == 0) {
+ GTEST_DEATH_TEST_CHECK_SYSCALL_(close(pipe_fd[0]));
+ set_write_fd(pipe_fd[1]);
+ // Redirects all logging to stderr in the child process to prevent
+ // concurrent writes to the log files. We capture stderr in the parent
+ // process and append the child process' output to a log.
+ LogToStderr();
+ // Event forwarding to the listeners of event listener API mush be shut
+ // down in death test subprocesses.
+ GetUnitTestImpl()->listeners()->SuppressEventForwarding();
+ return EXECUTE_TEST;
+ } else {
+ GTEST_DEATH_TEST_CHECK_SYSCALL_(close(pipe_fd[1]));
+ set_read_fd(pipe_fd[0]);
+ set_spawned(true);
+ return OVERSEE_TEST;
+ }
+}
+
+// A concrete death test class that forks and re-executes the main
+// program from the beginning, with command-line flags set that cause
+// only this specific death test to be run.
+class ExecDeathTest : public ForkingDeathTest {
+ public:
+ ExecDeathTest(const char* a_statement, const RE* a_regex,
+ const char* file, int line) :
+ ForkingDeathTest(a_statement, a_regex), file_(file), line_(line) { }
+ virtual TestRole AssumeRole();
+ private:
+ // The name of the file in which the death test is located.
+ const char* const file_;
+ // The line number on which the death test is located.
+ const int line_;
+};
+
+// Utility class for accumulating command-line arguments.
+class Arguments {
+ public:
+ Arguments() {
+ args_.push_back(NULL);
+ }
+
+ ~Arguments() {
+ for (std::vector<char*>::iterator i = args_.begin(); i != args_.end();
+ ++i) {
+ free(*i);
+ }
+ }
+ void AddArgument(const char* argument) {
+ args_.insert(args_.end() - 1, posix::StrDup(argument));
+ }
+
+ template <typename Str>
+ void AddArguments(const ::std::vector<Str>& arguments) {
+ for (typename ::std::vector<Str>::const_iterator i = arguments.begin();
+ i != arguments.end();
+ ++i) {
+ args_.insert(args_.end() - 1, posix::StrDup(i->c_str()));
+ }
+ }
+ char* const* Argv() {
+ return &args_[0];
+ }
+ private:
+ std::vector<char*> args_;
+};
+
+// A struct that encompasses the arguments to the child process of a
+// threadsafe-style death test process.
+struct ExecDeathTestArgs {
+ char* const* argv; // Command-line arguments for the child's call to exec
+ int close_fd; // File descriptor to close; the read end of a pipe
+};
+
+# if GTEST_OS_MAC
+inline char** GetEnviron() {
+ // When Google Test is built as a framework on MacOS X, the environ variable
+ // is unavailable. Apple's documentation (man environ) recommends using
+ // _NSGetEnviron() instead.
+ return *_NSGetEnviron();
+}
+# else
+// Some POSIX platforms expect you to declare environ. extern "C" makes
+// it reside in the global namespace.
+extern "C" char** environ;
+inline char** GetEnviron() { return environ; }
+# endif // GTEST_OS_MAC
+
+// The main function for a threadsafe-style death test child process.
+// This function is called in a clone()-ed process and thus must avoid
+// any potentially unsafe operations like malloc or libc functions.
+static int ExecDeathTestChildMain(void* child_arg) {
+ ExecDeathTestArgs* const args = static_cast<ExecDeathTestArgs*>(child_arg);
+ GTEST_DEATH_TEST_CHECK_SYSCALL_(close(args->close_fd));
+
+ // We need to execute the test program in the same environment where
+ // it was originally invoked. Therefore we change to the original
+ // working directory first.
+ const char* const original_dir =
+ UnitTest::GetInstance()->original_working_dir();
+ // We can safely call chdir() as it's a direct system call.
+ if (chdir(original_dir) != 0) {
+ DeathTestAbort(String::Format("chdir(\"%s\") failed: %s",
+ original_dir,
+ GetLastErrnoDescription().c_str()));
+ return EXIT_FAILURE;
+ }
+
+ // We can safely call execve() as it's a direct system call. We
+ // cannot use execvp() as it's a libc function and thus potentially
+ // unsafe. Since execve() doesn't search the PATH, the user must
+ // invoke the test program via a valid path that contains at least
+ // one path separator.
+ execve(args->argv[0], args->argv, GetEnviron());
+ DeathTestAbort(String::Format("execve(%s, ...) in %s failed: %s",
+ args->argv[0],
+ original_dir,
+ GetLastErrnoDescription().c_str()));
+ return EXIT_FAILURE;
+}
+
+// Two utility routines that together determine the direction the stack
+// grows.
+// This could be accomplished more elegantly by a single recursive
+// function, but we want to guard against the unlikely possibility of
+// a smart compiler optimizing the recursion away.
+//
+// GTEST_NO_INLINE_ is required to prevent GCC 4.6 from inlining
+// StackLowerThanAddress into StackGrowsDown, which then doesn't give
+// correct answer.
+bool StackLowerThanAddress(const void* ptr) GTEST_NO_INLINE_;
+bool StackLowerThanAddress(const void* ptr) {
+ int dummy;
+ return &dummy < ptr;
+}
+
+bool StackGrowsDown() {
+ int dummy;
+ return StackLowerThanAddress(&dummy);
+}
+
+// A threadsafe implementation of fork(2) for threadsafe-style death tests
+// that uses clone(2). It dies with an error message if anything goes
+// wrong.
+static pid_t ExecDeathTestFork(char* const* argv, int close_fd) {
+ ExecDeathTestArgs args = { argv, close_fd };
+ pid_t child_pid = -1;
+
+# if GTEST_HAS_CLONE
+ const bool use_fork = GTEST_FLAG(death_test_use_fork);
+
+ if (!use_fork) {
+ static const bool stack_grows_down = StackGrowsDown();
+ const size_t stack_size = getpagesize();
+ // MMAP_ANONYMOUS is not defined on Mac, so we use MAP_ANON instead.
+ void* const stack = mmap(NULL, stack_size, PROT_READ | PROT_WRITE,
+ MAP_ANON | MAP_PRIVATE, -1, 0);
+ GTEST_DEATH_TEST_CHECK_(stack != MAP_FAILED);
+ void* const stack_top =
+ static_cast<char*>(stack) + (stack_grows_down ? stack_size : 0);
+
+ child_pid = clone(&ExecDeathTestChildMain, stack_top, SIGCHLD, &args);
+
+ GTEST_DEATH_TEST_CHECK_(munmap(stack, stack_size) != -1);
+ }
+# else
+ const bool use_fork = true;
+# endif // GTEST_HAS_CLONE
+
+ if (use_fork && (child_pid = fork()) == 0) {
+ ExecDeathTestChildMain(&args);
+ _exit(0);
+ }
+
+ GTEST_DEATH_TEST_CHECK_(child_pid != -1);
+ return child_pid;
+}
+
+// The AssumeRole process for a fork-and-exec death test. It re-executes the
+// main program from the beginning, setting the --gtest_filter
+// and --gtest_internal_run_death_test flags to cause only the current
+// death test to be re-run.
+DeathTest::TestRole ExecDeathTest::AssumeRole() {
+ const UnitTestImpl* const impl = GetUnitTestImpl();
+ const InternalRunDeathTestFlag* const flag =
+ impl->internal_run_death_test_flag();
+ const TestInfo* const info = impl->current_test_info();
+ const int death_test_index = info->result()->death_test_count();
+
+ if (flag != NULL) {
+ set_write_fd(flag->write_fd());
+ return EXECUTE_TEST;
+ }
+
+ int pipe_fd[2];
+ GTEST_DEATH_TEST_CHECK_(pipe(pipe_fd) != -1);
+ // Clear the close-on-exec flag on the write end of the pipe, lest
+ // it be closed when the child process does an exec:
+ GTEST_DEATH_TEST_CHECK_(fcntl(pipe_fd[1], F_SETFD, 0) != -1);
+
+ const String filter_flag =
+ String::Format("--%s%s=%s.%s",
+ GTEST_FLAG_PREFIX_, kFilterFlag,
+ info->test_case_name(), info->name());
+ const String internal_flag =
+ String::Format("--%s%s=%s|%d|%d|%d",
+ GTEST_FLAG_PREFIX_, kInternalRunDeathTestFlag,
+ file_, line_, death_test_index, pipe_fd[1]);
+ Arguments args;
+ args.AddArguments(GetArgvs());
+ args.AddArgument(filter_flag.c_str());
+ args.AddArgument(internal_flag.c_str());
+
+ DeathTest::set_last_death_test_message("");
+
+ CaptureStderr();
+ // See the comment in NoExecDeathTest::AssumeRole for why the next line
+ // is necessary.
+ FlushInfoLog();
+
+ const pid_t child_pid = ExecDeathTestFork(args.Argv(), pipe_fd[0]);
+ GTEST_DEATH_TEST_CHECK_SYSCALL_(close(pipe_fd[1]));
+ set_child_pid(child_pid);
+ set_read_fd(pipe_fd[0]);
+ set_spawned(true);
+ return OVERSEE_TEST;
+}
+
+# endif // !GTEST_OS_WINDOWS
+
+// Creates a concrete DeathTest-derived class that depends on the
+// --gtest_death_test_style flag, and sets the pointer pointed to
+// by the "test" argument to its address. If the test should be
+// skipped, sets that pointer to NULL. Returns true, unless the
+// flag is set to an invalid value.
+bool DefaultDeathTestFactory::Create(const char* statement, const RE* regex,
+ const char* file, int line,
+ DeathTest** test) {
+ UnitTestImpl* const impl = GetUnitTestImpl();
+ const InternalRunDeathTestFlag* const flag =
+ impl->internal_run_death_test_flag();
+ const int death_test_index = impl->current_test_info()
+ ->increment_death_test_count();
+
+ if (flag != NULL) {
+ if (death_test_index > flag->index()) {
+ DeathTest::set_last_death_test_message(String::Format(
+ "Death test count (%d) somehow exceeded expected maximum (%d)",
+ death_test_index, flag->index()));
+ return false;
+ }
+
+ if (!(flag->file() == file && flag->line() == line &&
+ flag->index() == death_test_index)) {
+ *test = NULL;
+ return true;
+ }
+ }
+
+# if GTEST_OS_WINDOWS
+
+ if (GTEST_FLAG(death_test_style) == "threadsafe" ||
+ GTEST_FLAG(death_test_style) == "fast") {
+ *test = new WindowsDeathTest(statement, regex, file, line);
+ }
+
+# else
+
+ if (GTEST_FLAG(death_test_style) == "threadsafe") {
+ *test = new ExecDeathTest(statement, regex, file, line);
+ } else if (GTEST_FLAG(death_test_style) == "fast") {
+ *test = new NoExecDeathTest(statement, regex);
+ }
+
+# endif // GTEST_OS_WINDOWS
+
+ else { // NOLINT - this is more readable than unbalanced brackets inside #if.
+ DeathTest::set_last_death_test_message(String::Format(
+ "Unknown death test style \"%s\" encountered",
+ GTEST_FLAG(death_test_style).c_str()));
+ return false;
+ }
+
+ return true;
+}
+
+// Splits a given string on a given delimiter, populating a given
+// vector with the fields. GTEST_HAS_DEATH_TEST implies that we have
+// ::std::string, so we can use it here.
+static void SplitString(const ::std::string& str, char delimiter,
+ ::std::vector< ::std::string>* dest) {
+ ::std::vector< ::std::string> parsed;
+ ::std::string::size_type pos = 0;
+ while (::testing::internal::AlwaysTrue()) {
+ const ::std::string::size_type colon = str.find(delimiter, pos);
+ if (colon == ::std::string::npos) {
+ parsed.push_back(str.substr(pos));
+ break;
+ } else {
+ parsed.push_back(str.substr(pos, colon - pos));
+ pos = colon + 1;
+ }
+ }
+ dest->swap(parsed);
+}
+
+# if GTEST_OS_WINDOWS
+// Recreates the pipe and event handles from the provided parameters,
+// signals the event, and returns a file descriptor wrapped around the pipe
+// handle. This function is called in the child process only.
+int GetStatusFileDescriptor(unsigned int parent_process_id,
+ size_t write_handle_as_size_t,
+ size_t event_handle_as_size_t) {
+ AutoHandle parent_process_handle(::OpenProcess(PROCESS_DUP_HANDLE,
+ FALSE, // Non-inheritable.
+ parent_process_id));
+ if (parent_process_handle.Get() == INVALID_HANDLE_VALUE) {
+ DeathTestAbort(String::Format("Unable to open parent process %u",
+ parent_process_id));
+ }
+
+ // TODO(vladl@google.com): Replace the following check with a
+ // compile-time assertion when available.
+ GTEST_CHECK_(sizeof(HANDLE) <= sizeof(size_t));
+
+ const HANDLE write_handle =
+ reinterpret_cast<HANDLE>(write_handle_as_size_t);
+ HANDLE dup_write_handle;
+
+ // The newly initialized handle is accessible only in in the parent
+ // process. To obtain one accessible within the child, we need to use
+ // DuplicateHandle.
+ if (!::DuplicateHandle(parent_process_handle.Get(), write_handle,
+ ::GetCurrentProcess(), &dup_write_handle,
+ 0x0, // Requested privileges ignored since
+ // DUPLICATE_SAME_ACCESS is used.
+ FALSE, // Request non-inheritable handler.
+ DUPLICATE_SAME_ACCESS)) {
+ DeathTestAbort(String::Format(
+ "Unable to duplicate the pipe handle %Iu from the parent process %u",
+ write_handle_as_size_t, parent_process_id));
+ }
+
+ const HANDLE event_handle = reinterpret_cast<HANDLE>(event_handle_as_size_t);
+ HANDLE dup_event_handle;
+
+ if (!::DuplicateHandle(parent_process_handle.Get(), event_handle,
+ ::GetCurrentProcess(), &dup_event_handle,
+ 0x0,
+ FALSE,
+ DUPLICATE_SAME_ACCESS)) {
+ DeathTestAbort(String::Format(
+ "Unable to duplicate the event handle %Iu from the parent process %u",
+ event_handle_as_size_t, parent_process_id));
+ }
+
+ const int write_fd =
+ ::_open_osfhandle(reinterpret_cast<intptr_t>(dup_write_handle), O_APPEND);
+ if (write_fd == -1) {
+ DeathTestAbort(String::Format(
+ "Unable to convert pipe handle %Iu to a file descriptor",
+ write_handle_as_size_t));
+ }
+
+ // Signals the parent that the write end of the pipe has been acquired
+ // so the parent can release its own write end.
+ ::SetEvent(dup_event_handle);
+
+ return write_fd;
+}
+# endif // GTEST_OS_WINDOWS
+
+// Returns a newly created InternalRunDeathTestFlag object with fields
+// initialized from the GTEST_FLAG(internal_run_death_test) flag if
+// the flag is specified; otherwise returns NULL.
+InternalRunDeathTestFlag* ParseInternalRunDeathTestFlag() {
+ if (GTEST_FLAG(internal_run_death_test) == "") return NULL;
+
+ // GTEST_HAS_DEATH_TEST implies that we have ::std::string, so we
+ // can use it here.
+ int line = -1;
+ int index = -1;
+ ::std::vector< ::std::string> fields;
+ SplitString(GTEST_FLAG(internal_run_death_test).c_str(), '|', &fields);
+ int write_fd = -1;
+
+# if GTEST_OS_WINDOWS
+
+ unsigned int parent_process_id = 0;
+ size_t write_handle_as_size_t = 0;
+ size_t event_handle_as_size_t = 0;
+
+ if (fields.size() != 6
+ || !ParseNaturalNumber(fields[1], &line)
+ || !ParseNaturalNumber(fields[2], &index)
+ || !ParseNaturalNumber(fields[3], &parent_process_id)
+ || !ParseNaturalNumber(fields[4], &write_handle_as_size_t)
+ || !ParseNaturalNumber(fields[5], &event_handle_as_size_t)) {
+ DeathTestAbort(String::Format(
+ "Bad --gtest_internal_run_death_test flag: %s",
+ GTEST_FLAG(internal_run_death_test).c_str()));
+ }
+ write_fd = GetStatusFileDescriptor(parent_process_id,
+ write_handle_as_size_t,
+ event_handle_as_size_t);
+# else
+
+ if (fields.size() != 4
+ || !ParseNaturalNumber(fields[1], &line)
+ || !ParseNaturalNumber(fields[2], &index)
+ || !ParseNaturalNumber(fields[3], &write_fd)) {
+ DeathTestAbort(String::Format(
+ "Bad --gtest_internal_run_death_test flag: %s",
+ GTEST_FLAG(internal_run_death_test).c_str()));
+ }
+
+# endif // GTEST_OS_WINDOWS
+
+ return new InternalRunDeathTestFlag(fields[0], line, index, write_fd);
+}
+
+} // namespace internal
+
+#endif // GTEST_HAS_DEATH_TEST
+
+} // namespace testing
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Authors: keith.ray@gmail.com (Keith Ray)
+
+
+#include <stdlib.h>
+
+#if GTEST_OS_WINDOWS_MOBILE
+# include <windows.h>
+#elif GTEST_OS_WINDOWS
+# include <direct.h>
+# include <io.h>
+#elif GTEST_OS_SYMBIAN || GTEST_OS_NACL
+// Symbian OpenC and NaCl have PATH_MAX in sys/syslimits.h
+# include <sys/syslimits.h>
+#else
+# include <limits.h>
+# include <climits> // Some Linux distributions define PATH_MAX here.
+#endif // GTEST_OS_WINDOWS_MOBILE
+
+#if GTEST_OS_WINDOWS
+# define GTEST_PATH_MAX_ _MAX_PATH
+#elif defined(PATH_MAX)
+# define GTEST_PATH_MAX_ PATH_MAX
+#elif defined(_XOPEN_PATH_MAX)
+# define GTEST_PATH_MAX_ _XOPEN_PATH_MAX
+#else
+# define GTEST_PATH_MAX_ _POSIX_PATH_MAX
+#endif // GTEST_OS_WINDOWS
+
+
+namespace testing {
+namespace internal {
+
+#if GTEST_OS_WINDOWS
+// On Windows, '\\' is the standard path separator, but many tools and the
+// Windows API also accept '/' as an alternate path separator. Unless otherwise
+// noted, a file path can contain either kind of path separators, or a mixture
+// of them.
+const char kPathSeparator = '\\';
+const char kAlternatePathSeparator = '/';
+const char kPathSeparatorString[] = "\\";
+const char kAlternatePathSeparatorString[] = "/";
+# if GTEST_OS_WINDOWS_MOBILE
+// Windows CE doesn't have a current directory. You should not use
+// the current directory in tests on Windows CE, but this at least
+// provides a reasonable fallback.
+const char kCurrentDirectoryString[] = "\\";
+// Windows CE doesn't define INVALID_FILE_ATTRIBUTES
+const DWORD kInvalidFileAttributes = 0xffffffff;
+# else
+const char kCurrentDirectoryString[] = ".\\";
+# endif // GTEST_OS_WINDOWS_MOBILE
+#else
+const char kPathSeparator = '/';
+const char kPathSeparatorString[] = "/";
+const char kCurrentDirectoryString[] = "./";
+#endif // GTEST_OS_WINDOWS
+
+// Returns whether the given character is a valid path separator.
+static bool IsPathSeparator(char c) {
+#if GTEST_HAS_ALT_PATH_SEP_
+ return (c == kPathSeparator) || (c == kAlternatePathSeparator);
+#else
+ return c == kPathSeparator;
+#endif
+}
+
+// Returns the current working directory, or "" if unsuccessful.
+FilePath FilePath::GetCurrentDir() {
+#if GTEST_OS_WINDOWS_MOBILE
+ // Windows CE doesn't have a current directory, so we just return
+ // something reasonable.
+ return FilePath(kCurrentDirectoryString);
+#elif GTEST_OS_WINDOWS
+ char cwd[GTEST_PATH_MAX_ + 1] = { '\0' };
+ return FilePath(_getcwd(cwd, sizeof(cwd)) == NULL ? "" : cwd);
+#else
+ char cwd[GTEST_PATH_MAX_ + 1] = { '\0' };
+ return FilePath(getcwd(cwd, sizeof(cwd)) == NULL ? "" : cwd);
+#endif // GTEST_OS_WINDOWS_MOBILE
+}
+
+// Returns a copy of the FilePath with the case-insensitive extension removed.
+// Example: FilePath("dir/file.exe").RemoveExtension("EXE") returns
+// FilePath("dir/file"). If a case-insensitive extension is not
+// found, returns a copy of the original FilePath.
+FilePath FilePath::RemoveExtension(const char* extension) const {
+ String dot_extension(String::Format(".%s", extension));
+ if (pathname_.EndsWithCaseInsensitive(dot_extension.c_str())) {
+ return FilePath(String(pathname_.c_str(), pathname_.length() - 4));
+ }
+ return *this;
+}
+
+// Returns a pointer to the last occurence of a valid path separator in
+// the FilePath. On Windows, for example, both '/' and '\' are valid path
+// separators. Returns NULL if no path separator was found.
+const char* FilePath::FindLastPathSeparator() const {
+ const char* const last_sep = strrchr(c_str(), kPathSeparator);
+#if GTEST_HAS_ALT_PATH_SEP_
+ const char* const last_alt_sep = strrchr(c_str(), kAlternatePathSeparator);
+ // Comparing two pointers of which only one is NULL is undefined.
+ if (last_alt_sep != NULL &&
+ (last_sep == NULL || last_alt_sep > last_sep)) {
+ return last_alt_sep;
+ }
+#endif
+ return last_sep;
+}
+
+// Returns a copy of the FilePath with the directory part removed.
+// Example: FilePath("path/to/file").RemoveDirectoryName() returns
+// FilePath("file"). If there is no directory part ("just_a_file"), it returns
+// the FilePath unmodified. If there is no file part ("just_a_dir/") it
+// returns an empty FilePath ("").
+// On Windows platform, '\' is the path separator, otherwise it is '/'.
+FilePath FilePath::RemoveDirectoryName() const {
+ const char* const last_sep = FindLastPathSeparator();
+ return last_sep ? FilePath(String(last_sep + 1)) : *this;
+}
+
+// RemoveFileName returns the directory path with the filename removed.
+// Example: FilePath("path/to/file").RemoveFileName() returns "path/to/".
+// If the FilePath is "a_file" or "/a_file", RemoveFileName returns
+// FilePath("./") or, on Windows, FilePath(".\\"). If the filepath does
+// not have a file, like "just/a/dir/", it returns the FilePath unmodified.
+// On Windows platform, '\' is the path separator, otherwise it is '/'.
+FilePath FilePath::RemoveFileName() const {
+ const char* const last_sep = FindLastPathSeparator();
+ String dir;
+ if (last_sep) {
+ dir = String(c_str(), last_sep + 1 - c_str());
+ } else {
+ dir = kCurrentDirectoryString;
+ }
+ return FilePath(dir);
+}
+
+// Helper functions for naming files in a directory for xml output.
+
+// Given directory = "dir", base_name = "test", number = 0,
+// extension = "xml", returns "dir/test.xml". If number is greater
+// than zero (e.g., 12), returns "dir/test_12.xml".
+// On Windows platform, uses \ as the separator rather than /.
+FilePath FilePath::MakeFileName(const FilePath& directory,
+ const FilePath& base_name,
+ int number,
+ const char* extension) {
+ String file;
+ if (number == 0) {
+ file = String::Format("%s.%s", base_name.c_str(), extension);
+ } else {
+ file = String::Format("%s_%d.%s", base_name.c_str(), number, extension);
+ }
+ return ConcatPaths(directory, FilePath(file));
+}
+
+// Given directory = "dir", relative_path = "test.xml", returns "dir/test.xml".
+// On Windows, uses \ as the separator rather than /.
+FilePath FilePath::ConcatPaths(const FilePath& directory,
+ const FilePath& relative_path) {
+ if (directory.IsEmpty())
+ return relative_path;
+ const FilePath dir(directory.RemoveTrailingPathSeparator());
+ return FilePath(String::Format("%s%c%s", dir.c_str(), kPathSeparator,
+ relative_path.c_str()));
+}
+
+// Returns true if pathname describes something findable in the file-system,
+// either a file, directory, or whatever.
+bool FilePath::FileOrDirectoryExists() const {
+#if GTEST_OS_WINDOWS_MOBILE
+ LPCWSTR unicode = String::AnsiToUtf16(pathname_.c_str());
+ const DWORD attributes = GetFileAttributes(unicode);
+ delete [] unicode;
+ return attributes != kInvalidFileAttributes;
+#else
+ posix::StatStruct file_stat;
+ return posix::Stat(pathname_.c_str(), &file_stat) == 0;
+#endif // GTEST_OS_WINDOWS_MOBILE
+}
+
+// Returns true if pathname describes a directory in the file-system
+// that exists.
+bool FilePath::DirectoryExists() const {
+ bool result = false;
+#if GTEST_OS_WINDOWS
+ // Don't strip off trailing separator if path is a root directory on
+ // Windows (like "C:\\").
+ const FilePath& path(IsRootDirectory() ? *this :
+ RemoveTrailingPathSeparator());
+#else
+ const FilePath& path(*this);
+#endif
+
+#if GTEST_OS_WINDOWS_MOBILE
+ LPCWSTR unicode = String::AnsiToUtf16(path.c_str());
+ const DWORD attributes = GetFileAttributes(unicode);
+ delete [] unicode;
+ if ((attributes != kInvalidFileAttributes) &&
+ (attributes & FILE_ATTRIBUTE_DIRECTORY)) {
+ result = true;
+ }
+#else
+ posix::StatStruct file_stat;
+ result = posix::Stat(path.c_str(), &file_stat) == 0 &&
+ posix::IsDir(file_stat);
+#endif // GTEST_OS_WINDOWS_MOBILE
+
+ return result;
+}
+
+// Returns true if pathname describes a root directory. (Windows has one
+// root directory per disk drive.)
+bool FilePath::IsRootDirectory() const {
+#if GTEST_OS_WINDOWS
+ // TODO(wan@google.com): on Windows a network share like
+ // \\server\share can be a root directory, although it cannot be the
+ // current directory. Handle this properly.
+ return pathname_.length() == 3 && IsAbsolutePath();
+#else
+ return pathname_.length() == 1 && IsPathSeparator(pathname_.c_str()[0]);
+#endif
+}
+
+// Returns true if pathname describes an absolute path.
+bool FilePath::IsAbsolutePath() const {
+ const char* const name = pathname_.c_str();
+#if GTEST_OS_WINDOWS
+ return pathname_.length() >= 3 &&
+ ((name[0] >= 'a' && name[0] <= 'z') ||
+ (name[0] >= 'A' && name[0] <= 'Z')) &&
+ name[1] == ':' &&
+ IsPathSeparator(name[2]);
+#else
+ return IsPathSeparator(name[0]);
+#endif
+}
+
+// Returns a pathname for a file that does not currently exist. The pathname
+// will be directory/base_name.extension or
+// directory/base_name_<number>.extension if directory/base_name.extension
+// already exists. The number will be incremented until a pathname is found
+// that does not already exist.
+// Examples: 'dir/foo_test.xml' or 'dir/foo_test_1.xml'.
+// There could be a race condition if two or more processes are calling this
+// function at the same time -- they could both pick the same filename.
+FilePath FilePath::GenerateUniqueFileName(const FilePath& directory,
+ const FilePath& base_name,
+ const char* extension) {
+ FilePath full_pathname;
+ int number = 0;
+ do {
+ full_pathname.Set(MakeFileName(directory, base_name, number++, extension));
+ } while (full_pathname.FileOrDirectoryExists());
+ return full_pathname;
+}
+
+// Returns true if FilePath ends with a path separator, which indicates that
+// it is intended to represent a directory. Returns false otherwise.
+// This does NOT check that a directory (or file) actually exists.
+bool FilePath::IsDirectory() const {
+ return !pathname_.empty() &&
+ IsPathSeparator(pathname_.c_str()[pathname_.length() - 1]);
+}
+
+// Create directories so that path exists. Returns true if successful or if
+// the directories already exist; returns false if unable to create directories
+// for any reason.
+bool FilePath::CreateDirectoriesRecursively() const {
+ if (!this->IsDirectory()) {
+ return false;
+ }
+
+ if (pathname_.length() == 0 || this->DirectoryExists()) {
+ return true;
+ }
+
+ const FilePath parent(this->RemoveTrailingPathSeparator().RemoveFileName());
+ return parent.CreateDirectoriesRecursively() && this->CreateFolder();
+}
+
+// Create the directory so that path exists. Returns true if successful or
+// if the directory already exists; returns false if unable to create the
+// directory for any reason, including if the parent directory does not
+// exist. Not named "CreateDirectory" because that's a macro on Windows.
+bool FilePath::CreateFolder() const {
+#if GTEST_OS_WINDOWS_MOBILE
+ FilePath removed_sep(this->RemoveTrailingPathSeparator());
+ LPCWSTR unicode = String::AnsiToUtf16(removed_sep.c_str());
+ int result = CreateDirectory(unicode, NULL) ? 0 : -1;
+ delete [] unicode;
+#elif GTEST_OS_WINDOWS
+ int result = _mkdir(pathname_.c_str());
+#else
+ int result = mkdir(pathname_.c_str(), 0777);
+#endif // GTEST_OS_WINDOWS_MOBILE
+
+ if (result == -1) {
+ return this->DirectoryExists(); // An error is OK if the directory exists.
+ }
+ return true; // No error.
+}
+
+// If input name has a trailing separator character, remove it and return the
+// name, otherwise return the name string unmodified.
+// On Windows platform, uses \ as the separator, other platforms use /.
+FilePath FilePath::RemoveTrailingPathSeparator() const {
+ return IsDirectory()
+ ? FilePath(String(pathname_.c_str(), pathname_.length() - 1))
+ : *this;
+}
+
+// Removes any redundant separators that might be in the pathname.
+// For example, "bar///foo" becomes "bar/foo". Does not eliminate other
+// redundancies that might be in a pathname involving "." or "..".
+// TODO(wan@google.com): handle Windows network shares (e.g. \\server\share).
+void FilePath::Normalize() {
+ if (pathname_.c_str() == NULL) {
+ pathname_ = "";
+ return;
+ }
+ const char* src = pathname_.c_str();
+ char* const dest = new char[pathname_.length() + 1];
+ char* dest_ptr = dest;
+ memset(dest_ptr, 0, pathname_.length() + 1);
+
+ while (*src != '\0') {
+ *dest_ptr = *src;
+ if (!IsPathSeparator(*src)) {
+ src++;
+ } else {
+#if GTEST_HAS_ALT_PATH_SEP_
+ if (*dest_ptr == kAlternatePathSeparator) {
+ *dest_ptr = kPathSeparator;
+ }
+#endif
+ while (IsPathSeparator(*src))
+ src++;
+ }
+ dest_ptr++;
+ }
+ *dest_ptr = '\0';
+ pathname_ = dest;
+ delete[] dest;
+}
+
+} // namespace internal
+} // namespace testing
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+
+#include <limits.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+
+#if GTEST_OS_WINDOWS_MOBILE
+# include <windows.h> // For TerminateProcess()
+#elif GTEST_OS_WINDOWS
+# include <io.h>
+# include <sys/stat.h>
+#else
+# include <unistd.h>
+#endif // GTEST_OS_WINDOWS_MOBILE
+
+#if GTEST_OS_MAC
+# include <mach/mach_init.h>
+# include <mach/task.h>
+# include <mach/vm_map.h>
+#endif // GTEST_OS_MAC
+
+
+// Indicates that this translation unit is part of Google Test's
+// implementation. It must come before gtest-internal-inl.h is
+// included, or there will be a compiler error. This trick is to
+// prevent a user from accidentally including gtest-internal-inl.h in
+// his code.
+#define GTEST_IMPLEMENTATION_ 1
+#undef GTEST_IMPLEMENTATION_
+
+namespace testing {
+namespace internal {
+
+#if defined(_MSC_VER) || defined(__BORLANDC__)
+// MSVC and C++Builder do not provide a definition of STDERR_FILENO.
+const int kStdOutFileno = 1;
+const int kStdErrFileno = 2;
+#else
+const int kStdOutFileno = STDOUT_FILENO;
+const int kStdErrFileno = STDERR_FILENO;
+#endif // _MSC_VER
+
+#if GTEST_OS_MAC
+
+// Returns the number of threads running in the process, or 0 to indicate that
+// we cannot detect it.
+size_t GetThreadCount() {
+ const task_t task = mach_task_self();
+ mach_msg_type_number_t thread_count;
+ thread_act_array_t thread_list;
+ const kern_return_t status = task_threads(task, &thread_list, &thread_count);
+ if (status == KERN_SUCCESS) {
+ // task_threads allocates resources in thread_list and we need to free them
+ // to avoid leaks.
+ vm_deallocate(task,
+ reinterpret_cast<vm_address_t>(thread_list),
+ sizeof(thread_t) * thread_count);
+ return static_cast<size_t>(thread_count);
+ } else {
+ return 0;
+ }
+}
+
+#else
+
+size_t GetThreadCount() {
+ // There's no portable way to detect the number of threads, so we just
+ // return 0 to indicate that we cannot detect it.
+ return 0;
+}
+
+#endif // GTEST_OS_MAC
+
+#if GTEST_USES_POSIX_RE
+
+// Implements RE. Currently only needed for death tests.
+
+RE::~RE() {
+ if (is_valid_) {
+ // regfree'ing an invalid regex might crash because the content
+ // of the regex is undefined. Since the regex's are essentially
+ // the same, one cannot be valid (or invalid) without the other
+ // being so too.
+ regfree(&partial_regex_);
+ regfree(&full_regex_);
+ }
+ free(const_cast<char*>(pattern_));
+}
+
+// Returns true iff regular expression re matches the entire str.
+bool RE::FullMatch(const char* str, const RE& re) {
+ if (!re.is_valid_) return false;
+
+ regmatch_t match;
+ return regexec(&re.full_regex_, str, 1, &match, 0) == 0;
+}
+
+// Returns true iff regular expression re matches a substring of str
+// (including str itself).
+bool RE::PartialMatch(const char* str, const RE& re) {
+ if (!re.is_valid_) return false;
+
+ regmatch_t match;
+ return regexec(&re.partial_regex_, str, 1, &match, 0) == 0;
+}
+
+// Initializes an RE from its string representation.
+void RE::Init(const char* regex) {
+ pattern_ = posix::StrDup(regex);
+
+ // Reserves enough bytes to hold the regular expression used for a
+ // full match.
+ const size_t full_regex_len = strlen(regex) + 10;
+ char* const full_pattern = new char[full_regex_len];
+
+ snprintf(full_pattern, full_regex_len, "^(%s)$", regex);
+ is_valid_ = regcomp(&full_regex_, full_pattern, REG_EXTENDED) == 0;
+ // We want to call regcomp(&partial_regex_, ...) even if the
+ // previous expression returns false. Otherwise partial_regex_ may
+ // not be properly initialized can may cause trouble when it's
+ // freed.
+ //
+ // Some implementation of POSIX regex (e.g. on at least some
+ // versions of Cygwin) doesn't accept the empty string as a valid
+ // regex. We change it to an equivalent form "()" to be safe.
+ if (is_valid_) {
+ const char* const partial_regex = (*regex == '\0') ? "()" : regex;
+ is_valid_ = regcomp(&partial_regex_, partial_regex, REG_EXTENDED) == 0;
+ }
+ EXPECT_TRUE(is_valid_)
+ << "Regular expression \"" << regex
+ << "\" is not a valid POSIX Extended regular expression.";
+
+ delete[] full_pattern;
+}
+
+#elif GTEST_USES_SIMPLE_RE
+
+// Returns true iff ch appears anywhere in str (excluding the
+// terminating '\0' character).
+bool IsInSet(char ch, const char* str) {
+ return ch != '\0' && strchr(str, ch) != NULL;
+}
+
+// Returns true iff ch belongs to the given classification. Unlike
+// similar functions in <ctype.h>, these aren't affected by the
+// current locale.
+bool IsAsciiDigit(char ch) { return '0' <= ch && ch <= '9'; }
+bool IsAsciiPunct(char ch) {
+ return IsInSet(ch, "^-!\"#$%&'()*+,./:;<=>?@[\\]_`{|}~");
+}
+bool IsRepeat(char ch) { return IsInSet(ch, "?*+"); }
+bool IsAsciiWhiteSpace(char ch) { return IsInSet(ch, " \f\n\r\t\v"); }
+bool IsAsciiWordChar(char ch) {
+ return ('a' <= ch && ch <= 'z') || ('A' <= ch && ch <= 'Z') ||
+ ('0' <= ch && ch <= '9') || ch == '_';
+}
+
+// Returns true iff "\\c" is a supported escape sequence.
+bool IsValidEscape(char c) {
+ return (IsAsciiPunct(c) || IsInSet(c, "dDfnrsStvwW"));
+}
+
+// Returns true iff the given atom (specified by escaped and pattern)
+// matches ch. The result is undefined if the atom is invalid.
+bool AtomMatchesChar(bool escaped, char pattern_char, char ch) {
+ if (escaped) { // "\\p" where p is pattern_char.
+ switch (pattern_char) {
+ case 'd': return IsAsciiDigit(ch);
+ case 'D': return !IsAsciiDigit(ch);
+ case 'f': return ch == '\f';
+ case 'n': return ch == '\n';
+ case 'r': return ch == '\r';
+ case 's': return IsAsciiWhiteSpace(ch);
+ case 'S': return !IsAsciiWhiteSpace(ch);
+ case 't': return ch == '\t';
+ case 'v': return ch == '\v';
+ case 'w': return IsAsciiWordChar(ch);
+ case 'W': return !IsAsciiWordChar(ch);
+ }
+ return IsAsciiPunct(pattern_char) && pattern_char == ch;
+ }
+
+ return (pattern_char == '.' && ch != '\n') || pattern_char == ch;
+}
+
+// Helper function used by ValidateRegex() to format error messages.
+String FormatRegexSyntaxError(const char* regex, int index) {
+ return (Message() << "Syntax error at index " << index
+ << " in simple regular expression \"" << regex << "\": ").GetString();
+}
+
+// Generates non-fatal failures and returns false if regex is invalid;
+// otherwise returns true.
+bool ValidateRegex(const char* regex) {
+ if (regex == NULL) {
+ // TODO(wan@google.com): fix the source file location in the
+ // assertion failures to match where the regex is used in user
+ // code.
+ ADD_FAILURE() << "NULL is not a valid simple regular expression.";
+ return false;
+ }
+
+ bool is_valid = true;
+
+ // True iff ?, *, or + can follow the previous atom.
+ bool prev_repeatable = false;
+ for (int i = 0; regex[i]; i++) {
+ if (regex[i] == '\\') { // An escape sequence
+ i++;
+ if (regex[i] == '\0') {
+ ADD_FAILURE() << FormatRegexSyntaxError(regex, i - 1)
+ << "'\\' cannot appear at the end.";
+ return false;
+ }
+
+ if (!IsValidEscape(regex[i])) {
+ ADD_FAILURE() << FormatRegexSyntaxError(regex, i - 1)
+ << "invalid escape sequence \"\\" << regex[i] << "\".";
+ is_valid = false;
+ }
+ prev_repeatable = true;
+ } else { // Not an escape sequence.
+ const char ch = regex[i];
+
+ if (ch == '^' && i > 0) {
+ ADD_FAILURE() << FormatRegexSyntaxError(regex, i)
+ << "'^' can only appear at the beginning.";
+ is_valid = false;
+ } else if (ch == '$' && regex[i + 1] != '\0') {
+ ADD_FAILURE() << FormatRegexSyntaxError(regex, i)
+ << "'$' can only appear at the end.";
+ is_valid = false;
+ } else if (IsInSet(ch, "()[]{}|")) {
+ ADD_FAILURE() << FormatRegexSyntaxError(regex, i)
+ << "'" << ch << "' is unsupported.";
+ is_valid = false;
+ } else if (IsRepeat(ch) && !prev_repeatable) {
+ ADD_FAILURE() << FormatRegexSyntaxError(regex, i)
+ << "'" << ch << "' can only follow a repeatable token.";
+ is_valid = false;
+ }
+
+ prev_repeatable = !IsInSet(ch, "^$?*+");
+ }
+ }
+
+ return is_valid;
+}
+
+// Matches a repeated regex atom followed by a valid simple regular
+// expression. The regex atom is defined as c if escaped is false,
+// or \c otherwise. repeat is the repetition meta character (?, *,
+// or +). The behavior is undefined if str contains too many
+// characters to be indexable by size_t, in which case the test will
+// probably time out anyway. We are fine with this limitation as
+// std::string has it too.
+bool MatchRepetitionAndRegexAtHead(
+ bool escaped, char c, char repeat, const char* regex,
+ const char* str) {
+ const size_t min_count = (repeat == '+') ? 1 : 0;
+ const size_t max_count = (repeat == '?') ? 1 :
+ static_cast<size_t>(-1) - 1;
+ // We cannot call numeric_limits::max() as it conflicts with the
+ // max() macro on Windows.
+
+ for (size_t i = 0; i <= max_count; ++i) {
+ // We know that the atom matches each of the first i characters in str.
+ if (i >= min_count && MatchRegexAtHead(regex, str + i)) {
+ // We have enough matches at the head, and the tail matches too.
+ // Since we only care about *whether* the pattern matches str
+ // (as opposed to *how* it matches), there is no need to find a
+ // greedy match.
+ return true;
+ }
+ if (str[i] == '\0' || !AtomMatchesChar(escaped, c, str[i]))
+ return false;
+ }
+ return false;
+}
+
+// Returns true iff regex matches a prefix of str. regex must be a
+// valid simple regular expression and not start with "^", or the
+// result is undefined.
+bool MatchRegexAtHead(const char* regex, const char* str) {
+ if (*regex == '\0') // An empty regex matches a prefix of anything.
+ return true;
+
+ // "$" only matches the end of a string. Note that regex being
+ // valid guarantees that there's nothing after "$" in it.
+ if (*regex == '$')
+ return *str == '\0';
+
+ // Is the first thing in regex an escape sequence?
+ const bool escaped = *regex == '\\';
+ if (escaped)
+ ++regex;
+ if (IsRepeat(regex[1])) {
+ // MatchRepetitionAndRegexAtHead() calls MatchRegexAtHead(), so
+ // here's an indirect recursion. It terminates as the regex gets
+ // shorter in each recursion.
+ return MatchRepetitionAndRegexAtHead(
+ escaped, regex[0], regex[1], regex + 2, str);
+ } else {
+ // regex isn't empty, isn't "$", and doesn't start with a
+ // repetition. We match the first atom of regex with the first
+ // character of str and recurse.
+ return (*str != '\0') && AtomMatchesChar(escaped, *regex, *str) &&
+ MatchRegexAtHead(regex + 1, str + 1);
+ }
+}
+
+// Returns true iff regex matches any substring of str. regex must be
+// a valid simple regular expression, or the result is undefined.
+//
+// The algorithm is recursive, but the recursion depth doesn't exceed
+// the regex length, so we won't need to worry about running out of
+// stack space normally. In rare cases the time complexity can be
+// exponential with respect to the regex length + the string length,
+// but usually it's must faster (often close to linear).
+bool MatchRegexAnywhere(const char* regex, const char* str) {
+ if (regex == NULL || str == NULL)
+ return false;
+
+ if (*regex == '^')
+ return MatchRegexAtHead(regex + 1, str);
+
+ // A successful match can be anywhere in str.
+ do {
+ if (MatchRegexAtHead(regex, str))
+ return true;
+ } while (*str++ != '\0');
+ return false;
+}
+
+// Implements the RE class.
+
+RE::~RE() {
+ free(const_cast<char*>(pattern_));
+ free(const_cast<char*>(full_pattern_));
+}
+
+// Returns true iff regular expression re matches the entire str.
+bool RE::FullMatch(const char* str, const RE& re) {
+ return re.is_valid_ && MatchRegexAnywhere(re.full_pattern_, str);
+}
+
+// Returns true iff regular expression re matches a substring of str
+// (including str itself).
+bool RE::PartialMatch(const char* str, const RE& re) {
+ return re.is_valid_ && MatchRegexAnywhere(re.pattern_, str);
+}
+
+// Initializes an RE from its string representation.
+void RE::Init(const char* regex) {
+ pattern_ = full_pattern_ = NULL;
+ if (regex != NULL) {
+ pattern_ = posix::StrDup(regex);
+ }
+
+ is_valid_ = ValidateRegex(regex);
+ if (!is_valid_) {
+ // No need to calculate the full pattern when the regex is invalid.
+ return;
+ }
+
+ const size_t len = strlen(regex);
+ // Reserves enough bytes to hold the regular expression used for a
+ // full match: we need space to prepend a '^', append a '$', and
+ // terminate the string with '\0'.
+ char* buffer = static_cast<char*>(malloc(len + 3));
+ full_pattern_ = buffer;
+
+ if (*regex != '^')
+ *buffer++ = '^'; // Makes sure full_pattern_ starts with '^'.
+
+ // We don't use snprintf or strncpy, as they trigger a warning when
+ // compiled with VC++ 8.0.
+ memcpy(buffer, regex, len);
+ buffer += len;
+
+ if (len == 0 || regex[len - 1] != '$')
+ *buffer++ = '$'; // Makes sure full_pattern_ ends with '$'.
+
+ *buffer = '\0';
+}
+
+#endif // GTEST_USES_POSIX_RE
+
+const char kUnknownFile[] = "unknown file";
+
+// Formats a source file path and a line number as they would appear
+// in an error message from the compiler used to compile this code.
+GTEST_API_ ::std::string FormatFileLocation(const char* file, int line) {
+ const char* const file_name = file == NULL ? kUnknownFile : file;
+
+ if (line < 0) {
+ return String::Format("%s:", file_name).c_str();
+ }
+#ifdef _MSC_VER
+ return String::Format("%s(%d):", file_name, line).c_str();
+#else
+ return String::Format("%s:%d:", file_name, line).c_str();
+#endif // _MSC_VER
+}
+
+// Formats a file location for compiler-independent XML output.
+// Although this function is not platform dependent, we put it next to
+// FormatFileLocation in order to contrast the two functions.
+// Note that FormatCompilerIndependentFileLocation() does NOT append colon
+// to the file location it produces, unlike FormatFileLocation().
+GTEST_API_ ::std::string FormatCompilerIndependentFileLocation(
+ const char* file, int line) {
+ const char* const file_name = file == NULL ? kUnknownFile : file;
+
+ if (line < 0)
+ return file_name;
+ else
+ return String::Format("%s:%d", file_name, line).c_str();
+}
+
+
+GTestLog::GTestLog(GTestLogSeverity severity, const char* file, int line)
+ : severity_(severity) {
+ const char* const marker =
+ severity == GTEST_INFO ? "[ INFO ]" :
+ severity == GTEST_WARNING ? "[WARNING]" :
+ severity == GTEST_ERROR ? "[ ERROR ]" : "[ FATAL ]";
+ GetStream() << ::std::endl << marker << " "
+ << FormatFileLocation(file, line).c_str() << ": ";
+}
+
+// Flushes the buffers and, if severity is GTEST_FATAL, aborts the program.
+GTestLog::~GTestLog() {
+ GetStream() << ::std::endl;
+ if (severity_ == GTEST_FATAL) {
+ fflush(stderr);
+ posix::Abort();
+ }
+}
+// Disable Microsoft deprecation warnings for POSIX functions called from
+// this class (creat, dup, dup2, and close)
+#ifdef _MSC_VER
+# pragma warning(push)
+# pragma warning(disable: 4996)
+#endif // _MSC_VER
+
+#if GTEST_HAS_STREAM_REDIRECTION
+
+// Object that captures an output stream (stdout/stderr).
+class CapturedStream {
+ public:
+ // The ctor redirects the stream to a temporary file.
+ CapturedStream(int fd) : fd_(fd), uncaptured_fd_(dup(fd)) {
+
+# if GTEST_OS_WINDOWS
+ char temp_dir_path[MAX_PATH + 1] = { '\0' }; // NOLINT
+ char temp_file_path[MAX_PATH + 1] = { '\0' }; // NOLINT
+
+ ::GetTempPathA(sizeof(temp_dir_path), temp_dir_path);
+ const UINT success = ::GetTempFileNameA(temp_dir_path,
+ "gtest_redir",
+ 0, // Generate unique file name.
+ temp_file_path);
+ GTEST_CHECK_(success != 0)
+ << "Unable to create a temporary file in " << temp_dir_path;
+ const int captured_fd = creat(temp_file_path, _S_IREAD | _S_IWRITE);
+ GTEST_CHECK_(captured_fd != -1) << "Unable to open temporary file "
+ << temp_file_path;
+ filename_ = temp_file_path;
+# else
+ // There's no guarantee that a test has write access to the
+ // current directory, so we create the temporary file in the /tmp
+ // directory instead.
+ char name_template[] = "/tmp/captured_stream.XXXXXX";
+ const int captured_fd = mkstemp(name_template);
+ filename_ = name_template;
+# endif // GTEST_OS_WINDOWS
+ fflush(NULL);
+ dup2(captured_fd, fd_);
+ close(captured_fd);
+ }
+
+ ~CapturedStream() {
+ remove(filename_.c_str());
+ }
+
+ String GetCapturedString() {
+ if (uncaptured_fd_ != -1) {
+ // Restores the original stream.
+ fflush(NULL);
+ dup2(uncaptured_fd_, fd_);
+ close(uncaptured_fd_);
+ uncaptured_fd_ = -1;
+ }
+
+ FILE* const file = posix::FOpen(filename_.c_str(), "r");
+ const String content = ReadEntireFile(file);
+ posix::FClose(file);
+ return content;
+ }
+
+ private:
+ // Reads the entire content of a file as a String.
+ static String ReadEntireFile(FILE* file);
+
+ // Returns the size (in bytes) of a file.
+ static size_t GetFileSize(FILE* file);
+
+ const int fd_; // A stream to capture.
+ int uncaptured_fd_;
+ // Name of the temporary file holding the stderr output.
+ ::std::string filename_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(CapturedStream);
+};
+
+// Returns the size (in bytes) of a file.
+size_t CapturedStream::GetFileSize(FILE* file) {
+ fseek(file, 0, SEEK_END);
+ return static_cast<size_t>(ftell(file));
+}
+
+// Reads the entire content of a file as a string.
+String CapturedStream::ReadEntireFile(FILE* file) {
+ const size_t file_size = GetFileSize(file);
+ char* const buffer = new char[file_size];
+
+ size_t bytes_last_read = 0; // # of bytes read in the last fread()
+ size_t bytes_read = 0; // # of bytes read so far
+
+ fseek(file, 0, SEEK_SET);
+
+ // Keeps reading the file until we cannot read further or the
+ // pre-determined file size is reached.
+ do {
+ bytes_last_read = fread(buffer+bytes_read, 1, file_size-bytes_read, file);
+ bytes_read += bytes_last_read;
+ } while (bytes_last_read > 0 && bytes_read < file_size);
+
+ const String content(buffer, bytes_read);
+ delete[] buffer;
+
+ return content;
+}
+
+# ifdef _MSC_VER
+# pragma warning(pop)
+# endif // _MSC_VER
+
+static CapturedStream* g_captured_stderr = NULL;
+static CapturedStream* g_captured_stdout = NULL;
+
+// Starts capturing an output stream (stdout/stderr).
+void CaptureStream(int fd, const char* stream_name, CapturedStream** stream) {
+ if (*stream != NULL) {
+ GTEST_LOG_(FATAL) << "Only one " << stream_name
+ << " capturer can exist at a time.";
+ }
+ *stream = new CapturedStream(fd);
+}
+
+// Stops capturing the output stream and returns the captured string.
+String GetCapturedStream(CapturedStream** captured_stream) {
+ const String content = (*captured_stream)->GetCapturedString();
+
+ delete *captured_stream;
+ *captured_stream = NULL;
+
+ return content;
+}
+
+// Starts capturing stdout.
+void CaptureStdout() {
+ CaptureStream(kStdOutFileno, "stdout", &g_captured_stdout);
+}
+
+// Starts capturing stderr.
+void CaptureStderr() {
+ CaptureStream(kStdErrFileno, "stderr", &g_captured_stderr);
+}
+
+// Stops capturing stdout and returns the captured string.
+String GetCapturedStdout() { return GetCapturedStream(&g_captured_stdout); }
+
+// Stops capturing stderr and returns the captured string.
+String GetCapturedStderr() { return GetCapturedStream(&g_captured_stderr); }
+
+#endif // GTEST_HAS_STREAM_REDIRECTION
+
+#if GTEST_HAS_DEATH_TEST
+
+// A copy of all command line arguments. Set by InitGoogleTest().
+::std::vector<String> g_argvs;
+
+// Returns the command line as a vector of strings.
+const ::std::vector<String>& GetArgvs() { return g_argvs; }
+
+#endif // GTEST_HAS_DEATH_TEST
+
+#if GTEST_OS_WINDOWS_MOBILE
+namespace posix {
+void Abort() {
+ DebugBreak();
+ TerminateProcess(GetCurrentProcess(), 1);
+}
+} // namespace posix
+#endif // GTEST_OS_WINDOWS_MOBILE
+
+// Returns the name of the environment variable corresponding to the
+// given flag. For example, FlagToEnvVar("foo") will return
+// "GTEST_FOO" in the open-source version.
+static String FlagToEnvVar(const char* flag) {
+ const String full_flag =
+ (Message() << GTEST_FLAG_PREFIX_ << flag).GetString();
+
+ Message env_var;
+ for (size_t i = 0; i != full_flag.length(); i++) {
+ env_var << ToUpper(full_flag.c_str()[i]);
+ }
+
+ return env_var.GetString();
+}
+
+// Parses 'str' for a 32-bit signed integer. If successful, writes
+// the result to *value and returns true; otherwise leaves *value
+// unchanged and returns false.
+bool ParseInt32(const Message& src_text, const char* str, Int32* value) {
+ // Parses the environment variable as a decimal integer.
+ char* end = NULL;
+ const long long_value = strtol(str, &end, 10); // NOLINT
+
+ // Has strtol() consumed all characters in the string?
+ if (*end != '\0') {
+ // No - an invalid character was encountered.
+ Message msg;
+ msg << "WARNING: " << src_text
+ << " is expected to be a 32-bit integer, but actually"
+ << " has value \"" << str << "\".\n";
+ printf("%s", msg.GetString().c_str());
+ fflush(stdout);
+ return false;
+ }
+
+ // Is the parsed value in the range of an Int32?
+ const Int32 result = static_cast<Int32>(long_value);
+ if (long_value == LONG_MAX || long_value == LONG_MIN ||
+ // The parsed value overflows as a long. (strtol() returns
+ // LONG_MAX or LONG_MIN when the input overflows.)
+ result != long_value
+ // The parsed value overflows as an Int32.
+ ) {
+ Message msg;
+ msg << "WARNING: " << src_text
+ << " is expected to be a 32-bit integer, but actually"
+ << " has value " << str << ", which overflows.\n";
+ printf("%s", msg.GetString().c_str());
+ fflush(stdout);
+ return false;
+ }
+
+ *value = result;
+ return true;
+}
+
+// Reads and returns the Boolean environment variable corresponding to
+// the given flag; if it's not set, returns default_value.
+//
+// The value is considered true iff it's not "0".
+bool BoolFromGTestEnv(const char* flag, bool default_value) {
+ const String env_var = FlagToEnvVar(flag);
+ const char* const string_value = posix::GetEnv(env_var.c_str());
+ return string_value == NULL ?
+ default_value : strcmp(string_value, "0") != 0;
+}
+
+// Reads and returns a 32-bit integer stored in the environment
+// variable corresponding to the given flag; if it isn't set or
+// doesn't represent a valid 32-bit integer, returns default_value.
+Int32 Int32FromGTestEnv(const char* flag, Int32 default_value) {
+ const String env_var = FlagToEnvVar(flag);
+ const char* const string_value = posix::GetEnv(env_var.c_str());
+ if (string_value == NULL) {
+ // The environment variable is not set.
+ return default_value;
+ }
+
+ Int32 result = default_value;
+ if (!ParseInt32(Message() << "Environment variable " << env_var,
+ string_value, &result)) {
+ printf("The default value %s is used.\n",
+ (Message() << default_value).GetString().c_str());
+ fflush(stdout);
+ return default_value;
+ }
+
+ return result;
+}
+
+// Reads and returns the string environment variable corresponding to
+// the given flag; if it's not set, returns default_value.
+const char* StringFromGTestEnv(const char* flag, const char* default_value) {
+ const String env_var = FlagToEnvVar(flag);
+ const char* const value = posix::GetEnv(env_var.c_str());
+ return value == NULL ? default_value : value;
+}
+
+} // namespace internal
+} // namespace testing
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Google Test - The Google C++ Testing Framework
+//
+// This file implements a universal value printer that can print a
+// value of any type T:
+//
+// void ::testing::internal::UniversalPrinter<T>::Print(value, ostream_ptr);
+//
+// It uses the << operator when possible, and prints the bytes in the
+// object otherwise. A user can override its behavior for a class
+// type Foo by defining either operator<<(::std::ostream&, const Foo&)
+// or void PrintTo(const Foo&, ::std::ostream*) in the namespace that
+// defines Foo.
+
+#include <ctype.h>
+#include <stdio.h>
+#include <ostream> // NOLINT
+#include <string>
+
+namespace testing {
+
+namespace {
+
+using ::std::ostream;
+
+#if GTEST_OS_WINDOWS_MOBILE // Windows CE does not define _snprintf_s.
+# define snprintf _snprintf
+#elif _MSC_VER >= 1400 // VC 8.0 and later deprecate snprintf and _snprintf.
+# define snprintf _snprintf_s
+#elif _MSC_VER
+# define snprintf _snprintf
+#endif // GTEST_OS_WINDOWS_MOBILE
+
+// Prints a segment of bytes in the given object.
+void PrintByteSegmentInObjectTo(const unsigned char* obj_bytes, size_t start,
+ size_t count, ostream* os) {
+ char text[5] = "";
+ for (size_t i = 0; i != count; i++) {
+ const size_t j = start + i;
+ if (i != 0) {
+ // Organizes the bytes into groups of 2 for easy parsing by
+ // human.
+ if ((j % 2) == 0)
+ *os << ' ';
+ else
+ *os << '-';
+ }
+ snprintf(text, sizeof(text), "%02X", obj_bytes[j]);
+ *os << text;
+ }
+}
+
+// Prints the bytes in the given value to the given ostream.
+void PrintBytesInObjectToImpl(const unsigned char* obj_bytes, size_t count,
+ ostream* os) {
+ // Tells the user how big the object is.
+ *os << count << "-byte object <";
+
+ const size_t kThreshold = 132;
+ const size_t kChunkSize = 64;
+ // If the object size is bigger than kThreshold, we'll have to omit
+ // some details by printing only the first and the last kChunkSize
+ // bytes.
+ // TODO(wan): let the user control the threshold using a flag.
+ if (count < kThreshold) {
+ PrintByteSegmentInObjectTo(obj_bytes, 0, count, os);
+ } else {
+ PrintByteSegmentInObjectTo(obj_bytes, 0, kChunkSize, os);
+ *os << " ... ";
+ // Rounds up to 2-byte boundary.
+ const size_t resume_pos = (count - kChunkSize + 1)/2*2;
+ PrintByteSegmentInObjectTo(obj_bytes, resume_pos, count - resume_pos, os);
+ }
+ *os << ">";
+}
+
+} // namespace
+
+namespace internal2 {
+
+// Delegates to PrintBytesInObjectToImpl() to print the bytes in the
+// given object. The delegation simplifies the implementation, which
+// uses the << operator and thus is easier done outside of the
+// ::testing::internal namespace, which contains a << operator that
+// sometimes conflicts with the one in STL.
+void PrintBytesInObjectTo(const unsigned char* obj_bytes, size_t count,
+ ostream* os) {
+ PrintBytesInObjectToImpl(obj_bytes, count, os);
+}
+
+} // namespace internal2
+
+namespace internal {
+
+// Depending on the value of a char (or wchar_t), we print it in one
+// of three formats:
+// - as is if it's a printable ASCII (e.g. 'a', '2', ' '),
+// - as a hexidecimal escape sequence (e.g. '\x7F'), or
+// - as a special escape sequence (e.g. '\r', '\n').
+enum CharFormat {
+ kAsIs,
+ kHexEscape,
+ kSpecialEscape
+};
+
+// Returns true if c is a printable ASCII character. We test the
+// value of c directly instead of calling isprint(), which is buggy on
+// Windows Mobile.
+inline bool IsPrintableAscii(wchar_t c) {
+ return 0x20 <= c && c <= 0x7E;
+}
+
+// Prints a wide or narrow char c as a character literal without the
+// quotes, escaping it when necessary; returns how c was formatted.
+// The template argument UnsignedChar is the unsigned version of Char,
+// which is the type of c.
+template <typename UnsignedChar, typename Char>
+static CharFormat PrintAsCharLiteralTo(Char c, ostream* os) {
+ switch (static_cast<wchar_t>(c)) {
+ case L'\0':
+ *os << "\\0";
+ break;
+ case L'\'':
+ *os << "\\'";
+ break;
+ case L'\\':
+ *os << "\\\\";
+ break;
+ case L'\a':
+ *os << "\\a";
+ break;
+ case L'\b':
+ *os << "\\b";
+ break;
+ case L'\f':
+ *os << "\\f";
+ break;
+ case L'\n':
+ *os << "\\n";
+ break;
+ case L'\r':
+ *os << "\\r";
+ break;
+ case L'\t':
+ *os << "\\t";
+ break;
+ case L'\v':
+ *os << "\\v";
+ break;
+ default:
+ if (IsPrintableAscii(c)) {
+ *os << static_cast<char>(c);
+ return kAsIs;
+ } else {
+ *os << String::Format("\\x%X", static_cast<UnsignedChar>(c));
+ return kHexEscape;
+ }
+ }
+ return kSpecialEscape;
+}
+
+// Prints a char c as if it's part of a string literal, escaping it when
+// necessary; returns how c was formatted.
+static CharFormat PrintAsWideStringLiteralTo(wchar_t c, ostream* os) {
+ switch (c) {
+ case L'\'':
+ *os << "'";
+ return kAsIs;
+ case L'"':
+ *os << "\\\"";
+ return kSpecialEscape;
+ default:
+ return PrintAsCharLiteralTo<wchar_t>(c, os);
+ }
+}
+
+// Prints a char c as if it's part of a string literal, escaping it when
+// necessary; returns how c was formatted.
+static CharFormat PrintAsNarrowStringLiteralTo(char c, ostream* os) {
+ return PrintAsWideStringLiteralTo(static_cast<unsigned char>(c), os);
+}
+
+// Prints a wide or narrow character c and its code. '\0' is printed
+// as "'\\0'", other unprintable characters are also properly escaped
+// using the standard C++ escape sequence. The template argument
+// UnsignedChar is the unsigned version of Char, which is the type of c.
+template <typename UnsignedChar, typename Char>
+void PrintCharAndCodeTo(Char c, ostream* os) {
+ // First, print c as a literal in the most readable form we can find.
+ *os << ((sizeof(c) > 1) ? "L'" : "'");
+ const CharFormat format = PrintAsCharLiteralTo<UnsignedChar>(c, os);
+ *os << "'";
+
+ // To aid user debugging, we also print c's code in decimal, unless
+ // it's 0 (in which case c was printed as '\\0', making the code
+ // obvious).
+ if (c == 0)
+ return;
+ *os << " (" << String::Format("%d", c).c_str();
+
+ // For more convenience, we print c's code again in hexidecimal,
+ // unless c was already printed in the form '\x##' or the code is in
+ // [1, 9].
+ if (format == kHexEscape || (1 <= c && c <= 9)) {
+ // Do nothing.
+ } else {
+ *os << String::Format(", 0x%X",
+ static_cast<UnsignedChar>(c)).c_str();
+ }
+ *os << ")";
+}
+
+void PrintTo(unsigned char c, ::std::ostream* os) {
+ PrintCharAndCodeTo<unsigned char>(c, os);
+}
+void PrintTo(signed char c, ::std::ostream* os) {
+ PrintCharAndCodeTo<unsigned char>(c, os);
+}
+
+// Prints a wchar_t as a symbol if it is printable or as its internal
+// code otherwise and also as its code. L'\0' is printed as "L'\\0'".
+void PrintTo(wchar_t wc, ostream* os) {
+ PrintCharAndCodeTo<wchar_t>(wc, os);
+}
+
+// Prints the given array of characters to the ostream.
+// The array starts at *begin, the length is len, it may include '\0' characters
+// and may not be null-terminated.
+static void PrintCharsAsStringTo(const char* begin, size_t len, ostream* os) {
+ *os << "\"";
+ bool is_previous_hex = false;
+ for (size_t index = 0; index < len; ++index) {
+ const char cur = begin[index];
+ if (is_previous_hex && IsXDigit(cur)) {
+ // Previous character is of '\x..' form and this character can be
+ // interpreted as another hexadecimal digit in its number. Break string to
+ // disambiguate.
+ *os << "\" \"";
+ }
+ is_previous_hex = PrintAsNarrowStringLiteralTo(cur, os) == kHexEscape;
+ }
+ *os << "\"";
+}
+
+// Prints a (const) char array of 'len' elements, starting at address 'begin'.
+void UniversalPrintArray(const char* begin, size_t len, ostream* os) {
+ PrintCharsAsStringTo(begin, len, os);
+}
+
+// Prints the given array of wide characters to the ostream.
+// The array starts at *begin, the length is len, it may include L'\0'
+// characters and may not be null-terminated.
+static void PrintWideCharsAsStringTo(const wchar_t* begin, size_t len,
+ ostream* os) {
+ *os << "L\"";
+ bool is_previous_hex = false;
+ for (size_t index = 0; index < len; ++index) {
+ const wchar_t cur = begin[index];
+ if (is_previous_hex && isascii(cur) && IsXDigit(static_cast<char>(cur))) {
+ // Previous character is of '\x..' form and this character can be
+ // interpreted as another hexadecimal digit in its number. Break string to
+ // disambiguate.
+ *os << "\" L\"";
+ }
+ is_previous_hex = PrintAsWideStringLiteralTo(cur, os) == kHexEscape;
+ }
+ *os << "\"";
+}
+
+// Prints the given C string to the ostream.
+void PrintTo(const char* s, ostream* os) {
+ if (s == NULL) {
+ *os << "NULL";
+ } else {
+ *os << ImplicitCast_<const void*>(s) << " pointing to ";
+ PrintCharsAsStringTo(s, strlen(s), os);
+ }
+}
+
+// MSVC compiler can be configured to define whar_t as a typedef
+// of unsigned short. Defining an overload for const wchar_t* in that case
+// would cause pointers to unsigned shorts be printed as wide strings,
+// possibly accessing more memory than intended and causing invalid
+// memory accesses. MSVC defines _NATIVE_WCHAR_T_DEFINED symbol when
+// wchar_t is implemented as a native type.
+#if !defined(_MSC_VER) || defined(_NATIVE_WCHAR_T_DEFINED)
+// Prints the given wide C string to the ostream.
+void PrintTo(const wchar_t* s, ostream* os) {
+ if (s == NULL) {
+ *os << "NULL";
+ } else {
+ *os << ImplicitCast_<const void*>(s) << " pointing to ";
+ PrintWideCharsAsStringTo(s, wcslen(s), os);
+ }
+}
+#endif // wchar_t is native
+
+// Prints a ::string object.
+#if GTEST_HAS_GLOBAL_STRING
+void PrintStringTo(const ::string& s, ostream* os) {
+ PrintCharsAsStringTo(s.data(), s.size(), os);
+}
+#endif // GTEST_HAS_GLOBAL_STRING
+
+void PrintStringTo(const ::std::string& s, ostream* os) {
+ PrintCharsAsStringTo(s.data(), s.size(), os);
+}
+
+// Prints a ::wstring object.
+#if GTEST_HAS_GLOBAL_WSTRING
+void PrintWideStringTo(const ::wstring& s, ostream* os) {
+ PrintWideCharsAsStringTo(s.data(), s.size(), os);
+}
+#endif // GTEST_HAS_GLOBAL_WSTRING
+
+#if GTEST_HAS_STD_WSTRING
+void PrintWideStringTo(const ::std::wstring& s, ostream* os) {
+ PrintWideCharsAsStringTo(s.data(), s.size(), os);
+}
+#endif // GTEST_HAS_STD_WSTRING
+
+} // namespace internal
+
+} // namespace testing
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: mheule@google.com (Markus Heule)
+//
+// The Google C++ Testing Framework (Google Test)
+
+
+// Indicates that this translation unit is part of Google Test's
+// implementation. It must come before gtest-internal-inl.h is
+// included, or there will be a compiler error. This trick is to
+// prevent a user from accidentally including gtest-internal-inl.h in
+// his code.
+#define GTEST_IMPLEMENTATION_ 1
+#undef GTEST_IMPLEMENTATION_
+
+namespace testing {
+
+using internal::GetUnitTestImpl;
+
+// Gets the summary of the failure message by omitting the stack trace
+// in it.
+internal::String TestPartResult::ExtractSummary(const char* message) {
+ const char* const stack_trace = strstr(message, internal::kStackTraceMarker);
+ return stack_trace == NULL ? internal::String(message) :
+ internal::String(message, stack_trace - message);
+}
+
+// Prints a TestPartResult object.
+std::ostream& operator<<(std::ostream& os, const TestPartResult& result) {
+ return os
+ << result.file_name() << ":" << result.line_number() << ": "
+ << (result.type() == TestPartResult::kSuccess ? "Success" :
+ result.type() == TestPartResult::kFatalFailure ? "Fatal failure" :
+ "Non-fatal failure") << ":\n"
+ << result.message() << std::endl;
+}
+
+// Appends a TestPartResult to the array.
+void TestPartResultArray::Append(const TestPartResult& result) {
+ array_.push_back(result);
+}
+
+// Returns the TestPartResult at the given index (0-based).
+const TestPartResult& TestPartResultArray::GetTestPartResult(int index) const {
+ if (index < 0 || index >= size()) {
+ printf("\nInvalid index (%d) into TestPartResultArray.\n", index);
+ internal::posix::Abort();
+ }
+
+ return array_[index];
+}
+
+// Returns the number of TestPartResult objects in the array.
+int TestPartResultArray::size() const {
+ return static_cast<int>(array_.size());
+}
+
+namespace internal {
+
+HasNewFatalFailureHelper::HasNewFatalFailureHelper()
+ : has_new_fatal_failure_(false),
+ original_reporter_(GetUnitTestImpl()->
+ GetTestPartResultReporterForCurrentThread()) {
+ GetUnitTestImpl()->SetTestPartResultReporterForCurrentThread(this);
+}
+
+HasNewFatalFailureHelper::~HasNewFatalFailureHelper() {
+ GetUnitTestImpl()->SetTestPartResultReporterForCurrentThread(
+ original_reporter_);
+}
+
+void HasNewFatalFailureHelper::ReportTestPartResult(
+ const TestPartResult& result) {
+ if (result.fatally_failed())
+ has_new_fatal_failure_ = true;
+ original_reporter_->ReportTestPartResult(result);
+}
+
+} // namespace internal
+
+} // namespace testing
+// Copyright 2008 Google Inc.
+// All Rights Reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+
+namespace testing {
+namespace internal {
+
+#if GTEST_HAS_TYPED_TEST_P
+
+// Skips to the first non-space char in str. Returns an empty string if str
+// contains only whitespace characters.
+static const char* SkipSpaces(const char* str) {
+ while (IsSpace(*str))
+ str++;
+ return str;
+}
+
+// Verifies that registered_tests match the test names in
+// defined_test_names_; returns registered_tests if successful, or
+// aborts the program otherwise.
+const char* TypedTestCasePState::VerifyRegisteredTestNames(
+ const char* file, int line, const char* registered_tests) {
+ typedef ::std::set<const char*>::const_iterator DefinedTestIter;
+ registered_ = true;
+
+ // Skip initial whitespace in registered_tests since some
+ // preprocessors prefix stringizied literals with whitespace.
+ registered_tests = SkipSpaces(registered_tests);
+
+ Message errors;
+ ::std::set<String> tests;
+ for (const char* names = registered_tests; names != NULL;
+ names = SkipComma(names)) {
+ const String name = GetPrefixUntilComma(names);
+ if (tests.count(name) != 0) {
+ errors << "Test " << name << " is listed more than once.\n";
+ continue;
+ }
+
+ bool found = false;
+ for (DefinedTestIter it = defined_test_names_.begin();
+ it != defined_test_names_.end();
+ ++it) {
+ if (name == *it) {
+ found = true;
+ break;
+ }
+ }
+
+ if (found) {
+ tests.insert(name);
+ } else {
+ errors << "No test named " << name
+ << " can be found in this test case.\n";
+ }
+ }
+
+ for (DefinedTestIter it = defined_test_names_.begin();
+ it != defined_test_names_.end();
+ ++it) {
+ if (tests.count(*it) == 0) {
+ errors << "You forgot to list test " << *it << ".\n";
+ }
+ }
+
+ const String& errors_str = errors.GetString();
+ if (errors_str != "") {
+ fprintf(stderr, "%s %s", FormatFileLocation(file, line).c_str(),
+ errors_str.c_str());
+ fflush(stderr);
+ posix::Abort();
+ }
+
+ return registered_tests;
+}
+
+#endif // GTEST_HAS_TYPED_TEST_P
+
+} // namespace internal
+} // namespace testing
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+//
+// Google C++ Mocking Framework (Google Mock)
+//
+// This file #includes all Google Mock implementation .cc files. The
+// purpose is to allow a user to build Google Mock by compiling this
+// file alone.
+
+// This line ensures that gmock.h can be compiled on its own, even
+// when it's fused.
+#include "gmock/gmock.h"
+
+// The following lines pull in the real gmock *.cc files.
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements cardinalities.
+
+
+#include <limits.h>
+#include <ostream> // NOLINT
+#include <sstream>
+#include <string>
+
+namespace testing {
+
+namespace {
+
+// Implements the Between(m, n) cardinality.
+class BetweenCardinalityImpl : public CardinalityInterface {
+ public:
+ BetweenCardinalityImpl(int min, int max)
+ : min_(min >= 0 ? min : 0),
+ max_(max >= min_ ? max : min_) {
+ std::stringstream ss;
+ if (min < 0) {
+ ss << "The invocation lower bound must be >= 0, "
+ << "but is actually " << min << ".";
+ internal::Expect(false, __FILE__, __LINE__, ss.str());
+ } else if (max < 0) {
+ ss << "The invocation upper bound must be >= 0, "
+ << "but is actually " << max << ".";
+ internal::Expect(false, __FILE__, __LINE__, ss.str());
+ } else if (min > max) {
+ ss << "The invocation upper bound (" << max
+ << ") must be >= the invocation lower bound (" << min
+ << ").";
+ internal::Expect(false, __FILE__, __LINE__, ss.str());
+ }
+ }
+
+ // Conservative estimate on the lower/upper bound of the number of
+ // calls allowed.
+ virtual int ConservativeLowerBound() const { return min_; }
+ virtual int ConservativeUpperBound() const { return max_; }
+
+ virtual bool IsSatisfiedByCallCount(int call_count) const {
+ return min_ <= call_count && call_count <= max_ ;
+ }
+
+ virtual bool IsSaturatedByCallCount(int call_count) const {
+ return call_count >= max_;
+ }
+
+ virtual void DescribeTo(::std::ostream* os) const;
+ private:
+ const int min_;
+ const int max_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(BetweenCardinalityImpl);
+};
+
+// Formats "n times" in a human-friendly way.
+inline internal::string FormatTimes(int n) {
+ if (n == 1) {
+ return "once";
+ } else if (n == 2) {
+ return "twice";
+ } else {
+ std::stringstream ss;
+ ss << n << " times";
+ return ss.str();
+ }
+}
+
+// Describes the Between(m, n) cardinality in human-friendly text.
+void BetweenCardinalityImpl::DescribeTo(::std::ostream* os) const {
+ if (min_ == 0) {
+ if (max_ == 0) {
+ *os << "never called";
+ } else if (max_ == INT_MAX) {
+ *os << "called any number of times";
+ } else {
+ *os << "called at most " << FormatTimes(max_);
+ }
+ } else if (min_ == max_) {
+ *os << "called " << FormatTimes(min_);
+ } else if (max_ == INT_MAX) {
+ *os << "called at least " << FormatTimes(min_);
+ } else {
+ // 0 < min_ < max_ < INT_MAX
+ *os << "called between " << min_ << " and " << max_ << " times";
+ }
+}
+
+} // Unnamed namespace
+
+// Describes the given call count to an ostream.
+void Cardinality::DescribeActualCallCountTo(int actual_call_count,
+ ::std::ostream* os) {
+ if (actual_call_count > 0) {
+ *os << "called " << FormatTimes(actual_call_count);
+ } else {
+ *os << "never called";
+ }
+}
+
+// Creates a cardinality that allows at least n calls.
+Cardinality AtLeast(int n) { return Between(n, INT_MAX); }
+
+// Creates a cardinality that allows at most n calls.
+Cardinality AtMost(int n) { return Between(0, n); }
+
+// Creates a cardinality that allows any number of calls.
+Cardinality AnyNumber() { return AtLeast(0); }
+
+// Creates a cardinality that allows between min and max calls.
+Cardinality Between(int min, int max) {
+ return Cardinality(new BetweenCardinalityImpl(min, max));
+}
+
+// Creates a cardinality that allows exactly n calls.
+Cardinality Exactly(int n) { return Between(n, n); }
+
+} // namespace testing
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file defines some utilities useful for implementing Google
+// Mock. They are subject to change without notice, so please DO NOT
+// USE THEM IN USER CODE.
+
+
+#include <ctype.h>
+#include <ostream> // NOLINT
+#include <string>
+
+namespace testing {
+namespace internal {
+
+// Converts an identifier name to a space-separated list of lower-case
+// words. Each maximum substring of the form [A-Za-z][a-z]*|\d+ is
+// treated as one word. For example, both "FooBar123" and
+// "foo_bar_123" are converted to "foo bar 123".
+string ConvertIdentifierNameToWords(const char* id_name) {
+ string result;
+ char prev_char = '\0';
+ for (const char* p = id_name; *p != '\0'; prev_char = *(p++)) {
+ // We don't care about the current locale as the input is
+ // guaranteed to be a valid C++ identifier name.
+ const bool starts_new_word = IsUpper(*p) ||
+ (!IsAlpha(prev_char) && IsLower(*p)) ||
+ (!IsDigit(prev_char) && IsDigit(*p));
+
+ if (IsAlNum(*p)) {
+ if (starts_new_word && result != "")
+ result += ' ';
+ result += ToLower(*p);
+ }
+ }
+ return result;
+}
+
+// This class reports Google Mock failures as Google Test failures. A
+// user can define another class in a similar fashion if he intends to
+// use Google Mock with a testing framework other than Google Test.
+class GoogleTestFailureReporter : public FailureReporterInterface {
+ public:
+ virtual void ReportFailure(FailureType type, const char* file, int line,
+ const string& message) {
+ AssertHelper(type == FATAL ?
+ TestPartResult::kFatalFailure :
+ TestPartResult::kNonFatalFailure,
+ file,
+ line,
+ message.c_str()) = Message();
+ if (type == FATAL) {
+ posix::Abort();
+ }
+ }
+};
+
+// Returns the global failure reporter. Will create a
+// GoogleTestFailureReporter and return it the first time called.
+FailureReporterInterface* GetFailureReporter() {
+ // Points to the global failure reporter used by Google Mock. gcc
+ // guarantees that the following use of failure_reporter is
+ // thread-safe. We may need to add additional synchronization to
+ // protect failure_reporter if we port Google Mock to other
+ // compilers.
+ static FailureReporterInterface* const failure_reporter =
+ new GoogleTestFailureReporter();
+ return failure_reporter;
+}
+
+// Protects global resources (stdout in particular) used by Log().
+static GTEST_DEFINE_STATIC_MUTEX_(g_log_mutex);
+
+// Returns true iff a log with the given severity is visible according
+// to the --gmock_verbose flag.
+bool LogIsVisible(LogSeverity severity) {
+ if (GMOCK_FLAG(verbose) == kInfoVerbosity) {
+ // Always show the log if --gmock_verbose=info.
+ return true;
+ } else if (GMOCK_FLAG(verbose) == kErrorVerbosity) {
+ // Always hide it if --gmock_verbose=error.
+ return false;
+ } else {
+ // If --gmock_verbose is neither "info" nor "error", we treat it
+ // as "warning" (its default value).
+ return severity == WARNING;
+ }
+}
+
+// Prints the given message to stdout iff 'severity' >= the level
+// specified by the --gmock_verbose flag. If stack_frames_to_skip >=
+// 0, also prints the stack trace excluding the top
+// stack_frames_to_skip frames. In opt mode, any positive
+// stack_frames_to_skip is treated as 0, since we don't know which
+// function calls will be inlined by the compiler and need to be
+// conservative.
+void Log(LogSeverity severity, const string& message,
+ int stack_frames_to_skip) {
+ if (!LogIsVisible(severity))
+ return;
+
+ // Ensures that logs from different threads don't interleave.
+ MutexLock l(&g_log_mutex);
+
+ // "using ::std::cout;" doesn't work with Symbian's STLport, where cout is a
+ // macro.
+
+ if (severity == WARNING) {
+ // Prints a GMOCK WARNING marker to make the warnings easily searchable.
+ std::cout << "\nGMOCK WARNING:";
+ }
+ // Pre-pends a new-line to message if it doesn't start with one.
+ if (message.empty() || message[0] != '\n') {
+ std::cout << "\n";
+ }
+ std::cout << message;
+ if (stack_frames_to_skip >= 0) {
+#ifdef NDEBUG
+ // In opt mode, we have to be conservative and skip no stack frame.
+ const int actual_to_skip = 0;
+#else
+ // In dbg mode, we can do what the caller tell us to do (plus one
+ // for skipping this function's stack frame).
+ const int actual_to_skip = stack_frames_to_skip + 1;
+#endif // NDEBUG
+
+ // Appends a new-line to message if it doesn't end with one.
+ if (!message.empty() && *message.rbegin() != '\n') {
+ std::cout << "\n";
+ }
+ std::cout << "Stack trace:\n"
+ << ::testing::internal::GetCurrentOsStackTraceExceptTop(
+ ::testing::UnitTest::GetInstance(), actual_to_skip);
+ }
+ std::cout << ::std::flush;
+}
+
+} // namespace internal
+} // namespace testing
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements Matcher<const string&>, Matcher<string>, and
+// utilities for defining matchers.
+
+
+#include <string.h>
+#include <sstream>
+#include <string>
+
+namespace testing {
+
+// Constructs a matcher that matches a const string& whose value is
+// equal to s.
+Matcher<const internal::string&>::Matcher(const internal::string& s) {
+ *this = Eq(s);
+}
+
+// Constructs a matcher that matches a const string& whose value is
+// equal to s.
+Matcher<const internal::string&>::Matcher(const char* s) {
+ *this = Eq(internal::string(s));
+}
+
+// Constructs a matcher that matches a string whose value is equal to s.
+Matcher<internal::string>::Matcher(const internal::string& s) { *this = Eq(s); }
+
+// Constructs a matcher that matches a string whose value is equal to s.
+Matcher<internal::string>::Matcher(const char* s) {
+ *this = Eq(internal::string(s));
+}
+
+namespace internal {
+
+// Joins a vector of strings as if they are fields of a tuple; returns
+// the joined string.
+string JoinAsTuple(const Strings& fields) {
+ switch (fields.size()) {
+ case 0:
+ return "";
+ case 1:
+ return fields[0];
+ default:
+ string result = "(" + fields[0];
+ for (size_t i = 1; i < fields.size(); i++) {
+ result += ", ";
+ result += fields[i];
+ }
+ result += ")";
+ return result;
+ }
+}
+
+// Returns the description for a matcher defined using the MATCHER*()
+// macro where the user-supplied description string is "", if
+// 'negation' is false; otherwise returns the description of the
+// negation of the matcher. 'param_values' contains a list of strings
+// that are the print-out of the matcher's parameters.
+string FormatMatcherDescription(bool negation, const char* matcher_name,
+ const Strings& param_values) {
+ string result = ConvertIdentifierNameToWords(matcher_name);
+ if (param_values.size() >= 1)
+ result += " " + JoinAsTuple(param_values);
+ return negation ? "not (" + result + ")" : result;
+}
+
+} // namespace internal
+} // namespace testing
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Google Mock - a framework for writing C++ mock classes.
+//
+// This file implements the spec builder syntax (ON_CALL and
+// EXPECT_CALL).
+
+
+#include <stdlib.h>
+#include <iostream> // NOLINT
+#include <map>
+#include <set>
+#include <string>
+
+#if GTEST_OS_CYGWIN || GTEST_OS_LINUX || GTEST_OS_MAC
+# include <unistd.h> // NOLINT
+#endif
+
+namespace testing {
+namespace internal {
+
+// Protects the mock object registry (in class Mock), all function
+// mockers, and all expectations.
+GTEST_DEFINE_STATIC_MUTEX_(g_gmock_mutex);
+
+// Logs a message including file and line number information.
+void LogWithLocation(testing::internal::LogSeverity severity,
+ const char* file, int line,
+ const string& message) {
+ ::std::ostringstream s;
+ s << file << ":" << line << ": " << message << ::std::endl;
+ Log(severity, s.str(), 0);
+}
+
+// Constructs an ExpectationBase object.
+ExpectationBase::ExpectationBase(const char* a_file,
+ int a_line,
+ const string& a_source_text)
+ : file_(a_file),
+ line_(a_line),
+ source_text_(a_source_text),
+ cardinality_specified_(false),
+ cardinality_(Exactly(1)),
+ call_count_(0),
+ retired_(false),
+ extra_matcher_specified_(false),
+ repeated_action_specified_(false),
+ retires_on_saturation_(false),
+ last_clause_(kNone),
+ action_count_checked_(false) {}
+
+// Destructs an ExpectationBase object.
+ExpectationBase::~ExpectationBase() {}
+
+// Explicitly specifies the cardinality of this expectation. Used by
+// the subclasses to implement the .Times() clause.
+void ExpectationBase::SpecifyCardinality(const Cardinality& a_cardinality) {
+ cardinality_specified_ = true;
+ cardinality_ = a_cardinality;
+}
+
+// Retires all pre-requisites of this expectation.
+void ExpectationBase::RetireAllPreRequisites() {
+ if (is_retired()) {
+ // We can take this short-cut as we never retire an expectation
+ // until we have retired all its pre-requisites.
+ return;
+ }
+
+ for (ExpectationSet::const_iterator it = immediate_prerequisites_.begin();
+ it != immediate_prerequisites_.end(); ++it) {
+ ExpectationBase* const prerequisite = it->expectation_base().get();
+ if (!prerequisite->is_retired()) {
+ prerequisite->RetireAllPreRequisites();
+ prerequisite->Retire();
+ }
+ }
+}
+
+// Returns true iff all pre-requisites of this expectation have been
+// satisfied.
+// L >= g_gmock_mutex
+bool ExpectationBase::AllPrerequisitesAreSatisfied() const {
+ g_gmock_mutex.AssertHeld();
+ for (ExpectationSet::const_iterator it = immediate_prerequisites_.begin();
+ it != immediate_prerequisites_.end(); ++it) {
+ if (!(it->expectation_base()->IsSatisfied()) ||
+ !(it->expectation_base()->AllPrerequisitesAreSatisfied()))
+ return false;
+ }
+ return true;
+}
+
+// Adds unsatisfied pre-requisites of this expectation to 'result'.
+// L >= g_gmock_mutex
+void ExpectationBase::FindUnsatisfiedPrerequisites(
+ ExpectationSet* result) const {
+ g_gmock_mutex.AssertHeld();
+ for (ExpectationSet::const_iterator it = immediate_prerequisites_.begin();
+ it != immediate_prerequisites_.end(); ++it) {
+ if (it->expectation_base()->IsSatisfied()) {
+ // If *it is satisfied and has a call count of 0, some of its
+ // pre-requisites may not be satisfied yet.
+ if (it->expectation_base()->call_count_ == 0) {
+ it->expectation_base()->FindUnsatisfiedPrerequisites(result);
+ }
+ } else {
+ // Now that we know *it is unsatisfied, we are not so interested
+ // in whether its pre-requisites are satisfied. Therefore we
+ // don't recursively call FindUnsatisfiedPrerequisites() here.
+ *result += *it;
+ }
+ }
+}
+
+// Describes how many times a function call matching this
+// expectation has occurred.
+// L >= g_gmock_mutex
+void ExpectationBase::DescribeCallCountTo(::std::ostream* os) const {
+ g_gmock_mutex.AssertHeld();
+
+ // Describes how many times the function is expected to be called.
+ *os << " Expected: to be ";
+ cardinality().DescribeTo(os);
+ *os << "\n Actual: ";
+ Cardinality::DescribeActualCallCountTo(call_count(), os);
+
+ // Describes the state of the expectation (e.g. is it satisfied?
+ // is it active?).
+ *os << " - " << (IsOverSaturated() ? "over-saturated" :
+ IsSaturated() ? "saturated" :
+ IsSatisfied() ? "satisfied" : "unsatisfied")
+ << " and "
+ << (is_retired() ? "retired" : "active");
+}
+
+// Checks the action count (i.e. the number of WillOnce() and
+// WillRepeatedly() clauses) against the cardinality if this hasn't
+// been done before. Prints a warning if there are too many or too
+// few actions.
+// L < mutex_
+void ExpectationBase::CheckActionCountIfNotDone() const {
+ bool should_check = false;
+ {
+ MutexLock l(&mutex_);
+ if (!action_count_checked_) {
+ action_count_checked_ = true;
+ should_check = true;
+ }
+ }
+
+ if (should_check) {
+ if (!cardinality_specified_) {
+ // The cardinality was inferred - no need to check the action
+ // count against it.
+ return;
+ }
+
+ // The cardinality was explicitly specified.
+ const int action_count = static_cast<int>(untyped_actions_.size());
+ const int upper_bound = cardinality().ConservativeUpperBound();
+ const int lower_bound = cardinality().ConservativeLowerBound();
+ bool too_many; // True if there are too many actions, or false
+ // if there are too few.
+ if (action_count > upper_bound ||
+ (action_count == upper_bound && repeated_action_specified_)) {
+ too_many = true;
+ } else if (0 < action_count && action_count < lower_bound &&
+ !repeated_action_specified_) {
+ too_many = false;
+ } else {
+ return;
+ }
+
+ ::std::stringstream ss;
+ DescribeLocationTo(&ss);
+ ss << "Too " << (too_many ? "many" : "few")
+ << " actions specified in " << source_text() << "...\n"
+ << "Expected to be ";
+ cardinality().DescribeTo(&ss);
+ ss << ", but has " << (too_many ? "" : "only ")
+ << action_count << " WillOnce()"
+ << (action_count == 1 ? "" : "s");
+ if (repeated_action_specified_) {
+ ss << " and a WillRepeatedly()";
+ }
+ ss << ".";
+ Log(WARNING, ss.str(), -1); // -1 means "don't print stack trace".
+ }
+}
+
+// Implements the .Times() clause.
+void ExpectationBase::UntypedTimes(const Cardinality& a_cardinality) {
+ if (last_clause_ == kTimes) {
+ ExpectSpecProperty(false,
+ ".Times() cannot appear "
+ "more than once in an EXPECT_CALL().");
+ } else {
+ ExpectSpecProperty(last_clause_ < kTimes,
+ ".Times() cannot appear after "
+ ".InSequence(), .WillOnce(), .WillRepeatedly(), "
+ "or .RetiresOnSaturation().");
+ }
+ last_clause_ = kTimes;
+
+ SpecifyCardinality(a_cardinality);
+}
+
+// Points to the implicit sequence introduced by a living InSequence
+// object (if any) in the current thread or NULL.
+ThreadLocal<Sequence*> g_gmock_implicit_sequence;
+
+// Reports an uninteresting call (whose description is in msg) in the
+// manner specified by 'reaction'.
+void ReportUninterestingCall(CallReaction reaction, const string& msg) {
+ switch (reaction) {
+ case ALLOW:
+ Log(INFO, msg, 3);
+ break;
+ case WARN:
+ Log(WARNING, msg, 3);
+ break;
+ default: // FAIL
+ Expect(false, NULL, -1, msg);
+ }
+}
+
+UntypedFunctionMockerBase::UntypedFunctionMockerBase()
+ : mock_obj_(NULL), name_("") {}
+
+UntypedFunctionMockerBase::~UntypedFunctionMockerBase() {}
+
+// Sets the mock object this mock method belongs to, and registers
+// this information in the global mock registry. Will be called
+// whenever an EXPECT_CALL() or ON_CALL() is executed on this mock
+// method.
+// L < g_gmock_mutex
+void UntypedFunctionMockerBase::RegisterOwner(const void* mock_obj) {
+ {
+ MutexLock l(&g_gmock_mutex);
+ mock_obj_ = mock_obj;
+ }
+ Mock::Register(mock_obj, this);
+}
+
+// Sets the mock object this mock method belongs to, and sets the name
+// of the mock function. Will be called upon each invocation of this
+// mock function.
+// L < g_gmock_mutex
+void UntypedFunctionMockerBase::SetOwnerAndName(
+ const void* mock_obj, const char* name) {
+ // We protect name_ under g_gmock_mutex in case this mock function
+ // is called from two threads concurrently.
+ MutexLock l(&g_gmock_mutex);
+ mock_obj_ = mock_obj;
+ name_ = name;
+}
+
+// Returns the name of the function being mocked. Must be called
+// after RegisterOwner() or SetOwnerAndName() has been called.
+// L < g_gmock_mutex
+const void* UntypedFunctionMockerBase::MockObject() const {
+ const void* mock_obj;
+ {
+ // We protect mock_obj_ under g_gmock_mutex in case this mock
+ // function is called from two threads concurrently.
+ MutexLock l(&g_gmock_mutex);
+ Assert(mock_obj_ != NULL, __FILE__, __LINE__,
+ "MockObject() must not be called before RegisterOwner() or "
+ "SetOwnerAndName() has been called.");
+ mock_obj = mock_obj_;
+ }
+ return mock_obj;
+}
+
+// Returns the name of this mock method. Must be called after
+// SetOwnerAndName() has been called.
+// L < g_gmock_mutex
+const char* UntypedFunctionMockerBase::Name() const {
+ const char* name;
+ {
+ // We protect name_ under g_gmock_mutex in case this mock
+ // function is called from two threads concurrently.
+ MutexLock l(&g_gmock_mutex);
+ Assert(name_ != NULL, __FILE__, __LINE__,
+ "Name() must not be called before SetOwnerAndName() has "
+ "been called.");
+ name = name_;
+ }
+ return name;
+}
+
+// Calculates the result of invoking this mock function with the given
+// arguments, prints it, and returns it. The caller is responsible
+// for deleting the result.
+// L < g_gmock_mutex
+const UntypedActionResultHolderBase*
+UntypedFunctionMockerBase::UntypedInvokeWith(const void* const untyped_args) {
+ if (untyped_expectations_.size() == 0) {
+ // No expectation is set on this mock method - we have an
+ // uninteresting call.
+
+ // We must get Google Mock's reaction on uninteresting calls
+ // made on this mock object BEFORE performing the action,
+ // because the action may DELETE the mock object and make the
+ // following expression meaningless.
+ const CallReaction reaction =
+ Mock::GetReactionOnUninterestingCalls(MockObject());
+
+ // True iff we need to print this call's arguments and return
+ // value. This definition must be kept in sync with
+ // the behavior of ReportUninterestingCall().
+ const bool need_to_report_uninteresting_call =
+ // If the user allows this uninteresting call, we print it
+ // only when he wants informational messages.
+ reaction == ALLOW ? LogIsVisible(INFO) :
+ // If the user wants this to be a warning, we print it only
+ // when he wants to see warnings.
+ reaction == WARN ? LogIsVisible(WARNING) :
+ // Otherwise, the user wants this to be an error, and we
+ // should always print detailed information in the error.
+ true;
+
+ if (!need_to_report_uninteresting_call) {
+ // Perform the action without printing the call information.
+ return this->UntypedPerformDefaultAction(untyped_args, "");
+ }
+
+ // Warns about the uninteresting call.
+ ::std::stringstream ss;
+ this->UntypedDescribeUninterestingCall(untyped_args, &ss);
+
+ // Calculates the function result.
+ const UntypedActionResultHolderBase* const result =
+ this->UntypedPerformDefaultAction(untyped_args, ss.str());
+
+ // Prints the function result.
+ if (result != NULL)
+ result->PrintAsActionResult(&ss);
+
+ ReportUninterestingCall(reaction, ss.str());
+ return result;
+ }
+
+ bool is_excessive = false;
+ ::std::stringstream ss;
+ ::std::stringstream why;
+ ::std::stringstream loc;
+ const void* untyped_action = NULL;
+
+ // The UntypedFindMatchingExpectation() function acquires and
+ // releases g_gmock_mutex.
+ const ExpectationBase* const untyped_expectation =
+ this->UntypedFindMatchingExpectation(
+ untyped_args, &untyped_action, &is_excessive,
+ &ss, &why);
+ const bool found = untyped_expectation != NULL;
+
+ // True iff we need to print the call's arguments and return value.
+ // This definition must be kept in sync with the uses of Expect()
+ // and Log() in this function.
+ const bool need_to_report_call = !found || is_excessive || LogIsVisible(INFO);
+ if (!need_to_report_call) {
+ // Perform the action without printing the call information.
+ return
+ untyped_action == NULL ?
+ this->UntypedPerformDefaultAction(untyped_args, "") :
+ this->UntypedPerformAction(untyped_action, untyped_args);
+ }
+
+ ss << " Function call: " << Name();
+ this->UntypedPrintArgs(untyped_args, &ss);
+
+ // In case the action deletes a piece of the expectation, we
+ // generate the message beforehand.
+ if (found && !is_excessive) {
+ untyped_expectation->DescribeLocationTo(&loc);
+ }
+
+ const UntypedActionResultHolderBase* const result =
+ untyped_action == NULL ?
+ this->UntypedPerformDefaultAction(untyped_args, ss.str()) :
+ this->UntypedPerformAction(untyped_action, untyped_args);
+ if (result != NULL)
+ result->PrintAsActionResult(&ss);
+ ss << "\n" << why.str();
+
+ if (!found) {
+ // No expectation matches this call - reports a failure.
+ Expect(false, NULL, -1, ss.str());
+ } else if (is_excessive) {
+ // We had an upper-bound violation and the failure message is in ss.
+ Expect(false, untyped_expectation->file(),
+ untyped_expectation->line(), ss.str());
+ } else {
+ // We had an expected call and the matching expectation is
+ // described in ss.
+ Log(INFO, loc.str() + ss.str(), 2);
+ }
+
+ return result;
+}
+
+// Returns an Expectation object that references and co-owns exp,
+// which must be an expectation on this mock function.
+Expectation UntypedFunctionMockerBase::GetHandleOf(ExpectationBase* exp) {
+ for (UntypedExpectations::const_iterator it =
+ untyped_expectations_.begin();
+ it != untyped_expectations_.end(); ++it) {
+ if (it->get() == exp) {
+ return Expectation(*it);
+ }
+ }
+
+ Assert(false, __FILE__, __LINE__, "Cannot find expectation.");
+ return Expectation();
+ // The above statement is just to make the code compile, and will
+ // never be executed.
+}
+
+// Verifies that all expectations on this mock function have been
+// satisfied. Reports one or more Google Test non-fatal failures
+// and returns false if not.
+// L >= g_gmock_mutex
+bool UntypedFunctionMockerBase::VerifyAndClearExpectationsLocked() {
+ g_gmock_mutex.AssertHeld();
+ bool expectations_met = true;
+ for (UntypedExpectations::const_iterator it =
+ untyped_expectations_.begin();
+ it != untyped_expectations_.end(); ++it) {
+ ExpectationBase* const untyped_expectation = it->get();
+ if (untyped_expectation->IsOverSaturated()) {
+ // There was an upper-bound violation. Since the error was
+ // already reported when it occurred, there is no need to do
+ // anything here.
+ expectations_met = false;
+ } else if (!untyped_expectation->IsSatisfied()) {
+ expectations_met = false;
+ ::std::stringstream ss;
+ ss << "Actual function call count doesn't match "
+ << untyped_expectation->source_text() << "...\n";
+ // No need to show the source file location of the expectation
+ // in the description, as the Expect() call that follows already
+ // takes care of it.
+ untyped_expectation->MaybeDescribeExtraMatcherTo(&ss);
+ untyped_expectation->DescribeCallCountTo(&ss);
+ Expect(false, untyped_expectation->file(),
+ untyped_expectation->line(), ss.str());
+ }
+ }
+ untyped_expectations_.clear();
+ return expectations_met;
+}
+
+} // namespace internal
+
+// Class Mock.
+
+namespace {
+
+typedef std::set<internal::UntypedFunctionMockerBase*> FunctionMockers;
+
+// The current state of a mock object. Such information is needed for
+// detecting leaked mock objects and explicitly verifying a mock's
+// expectations.
+struct MockObjectState {
+ MockObjectState()
+ : first_used_file(NULL), first_used_line(-1), leakable(false) {}
+
+ // Where in the source file an ON_CALL or EXPECT_CALL is first
+ // invoked on this mock object.
+ const char* first_used_file;
+ int first_used_line;
+ ::std::string first_used_test_case;
+ ::std::string first_used_test;
+ bool leakable; // true iff it's OK to leak the object.
+ FunctionMockers function_mockers; // All registered methods of the object.
+};
+
+// A global registry holding the state of all mock objects that are
+// alive. A mock object is added to this registry the first time
+// Mock::AllowLeak(), ON_CALL(), or EXPECT_CALL() is called on it. It
+// is removed from the registry in the mock object's destructor.
+class MockObjectRegistry {
+ public:
+ // Maps a mock object (identified by its address) to its state.
+ typedef std::map<const void*, MockObjectState> StateMap;
+
+ // This destructor will be called when a program exits, after all
+ // tests in it have been run. By then, there should be no mock
+ // object alive. Therefore we report any living object as test
+ // failure, unless the user explicitly asked us to ignore it.
+ ~MockObjectRegistry() {
+ // "using ::std::cout;" doesn't work with Symbian's STLport, where cout is
+ // a macro.
+
+ if (!GMOCK_FLAG(catch_leaked_mocks))
+ return;
+
+ int leaked_count = 0;
+ for (StateMap::const_iterator it = states_.begin(); it != states_.end();
+ ++it) {
+ if (it->second.leakable) // The user said it's fine to leak this object.
+ continue;
+
+ // TODO(wan@google.com): Print the type of the leaked object.
+ // This can help the user identify the leaked object.
+ std::cout << "\n";
+ const MockObjectState& state = it->second;
+ std::cout << internal::FormatFileLocation(state.first_used_file,
+ state.first_used_line);
+ std::cout << " ERROR: this mock object";
+ if (state.first_used_test != "") {
+ std::cout << " (used in test " << state.first_used_test_case << "."
+ << state.first_used_test << ")";
+ }
+ std::cout << " should be deleted but never is. Its address is @"
+ << it->first << ".";
+ leaked_count++;
+ }
+ if (leaked_count > 0) {
+ std::cout << "\nERROR: " << leaked_count
+ << " leaked mock " << (leaked_count == 1 ? "object" : "objects")
+ << " found at program exit.\n";
+ std::cout.flush();
+ ::std::cerr.flush();
+ // RUN_ALL_TESTS() has already returned when this destructor is
+ // called. Therefore we cannot use the normal Google Test
+ // failure reporting mechanism.
+ _exit(1); // We cannot call exit() as it is not reentrant and
+ // may already have been called.
+ }
+ }
+
+ StateMap& states() { return states_; }
+ private:
+ StateMap states_;
+};
+
+// Protected by g_gmock_mutex.
+MockObjectRegistry g_mock_object_registry;
+
+// Maps a mock object to the reaction Google Mock should have when an
+// uninteresting method is called. Protected by g_gmock_mutex.
+std::map<const void*, internal::CallReaction> g_uninteresting_call_reaction;
+
+// Sets the reaction Google Mock should have when an uninteresting
+// method of the given mock object is called.
+// L < g_gmock_mutex
+void SetReactionOnUninterestingCalls(const void* mock_obj,
+ internal::CallReaction reaction) {
+ internal::MutexLock l(&internal::g_gmock_mutex);
+ g_uninteresting_call_reaction[mock_obj] = reaction;
+}
+
+} // namespace
+
+// Tells Google Mock to allow uninteresting calls on the given mock
+// object.
+// L < g_gmock_mutex
+void Mock::AllowUninterestingCalls(const void* mock_obj) {
+ SetReactionOnUninterestingCalls(mock_obj, internal::ALLOW);
+}
+
+// Tells Google Mock to warn the user about uninteresting calls on the
+// given mock object.
+// L < g_gmock_mutex
+void Mock::WarnUninterestingCalls(const void* mock_obj) {
+ SetReactionOnUninterestingCalls(mock_obj, internal::WARN);
+}
+
+// Tells Google Mock to fail uninteresting calls on the given mock
+// object.
+// L < g_gmock_mutex
+void Mock::FailUninterestingCalls(const void* mock_obj) {
+ SetReactionOnUninterestingCalls(mock_obj, internal::FAIL);
+}
+
+// Tells Google Mock the given mock object is being destroyed and its
+// entry in the call-reaction table should be removed.
+// L < g_gmock_mutex
+void Mock::UnregisterCallReaction(const void* mock_obj) {
+ internal::MutexLock l(&internal::g_gmock_mutex);
+ g_uninteresting_call_reaction.erase(mock_obj);
+}
+
+// Returns the reaction Google Mock will have on uninteresting calls
+// made on the given mock object.
+// L < g_gmock_mutex
+internal::CallReaction Mock::GetReactionOnUninterestingCalls(
+ const void* mock_obj) {
+ internal::MutexLock l(&internal::g_gmock_mutex);
+ return (g_uninteresting_call_reaction.count(mock_obj) == 0) ?
+ internal::WARN : g_uninteresting_call_reaction[mock_obj];
+}
+
+// Tells Google Mock to ignore mock_obj when checking for leaked mock
+// objects.
+// L < g_gmock_mutex
+void Mock::AllowLeak(const void* mock_obj) {
+ internal::MutexLock l(&internal::g_gmock_mutex);
+ g_mock_object_registry.states()[mock_obj].leakable = true;
+}
+
+// Verifies and clears all expectations on the given mock object. If
+// the expectations aren't satisfied, generates one or more Google
+// Test non-fatal failures and returns false.
+// L < g_gmock_mutex
+bool Mock::VerifyAndClearExpectations(void* mock_obj) {
+ internal::MutexLock l(&internal::g_gmock_mutex);
+ return VerifyAndClearExpectationsLocked(mock_obj);
+}
+
+// Verifies all expectations on the given mock object and clears its
+// default actions and expectations. Returns true iff the
+// verification was successful.
+// L < g_gmock_mutex
+bool Mock::VerifyAndClear(void* mock_obj) {
+ internal::MutexLock l(&internal::g_gmock_mutex);
+ ClearDefaultActionsLocked(mock_obj);
+ return VerifyAndClearExpectationsLocked(mock_obj);
+}
+
+// Verifies and clears all expectations on the given mock object. If
+// the expectations aren't satisfied, generates one or more Google
+// Test non-fatal failures and returns false.
+// L >= g_gmock_mutex
+bool Mock::VerifyAndClearExpectationsLocked(void* mock_obj) {
+ internal::g_gmock_mutex.AssertHeld();
+ if (g_mock_object_registry.states().count(mock_obj) == 0) {
+ // No EXPECT_CALL() was set on the given mock object.
+ return true;
+ }
+
+ // Verifies and clears the expectations on each mock method in the
+ // given mock object.
+ bool expectations_met = true;
+ FunctionMockers& mockers =
+ g_mock_object_registry.states()[mock_obj].function_mockers;
+ for (FunctionMockers::const_iterator it = mockers.begin();
+ it != mockers.end(); ++it) {
+ if (!(*it)->VerifyAndClearExpectationsLocked()) {
+ expectations_met = false;
+ }
+ }
+
+ // We don't clear the content of mockers, as they may still be
+ // needed by ClearDefaultActionsLocked().
+ return expectations_met;
+}
+
+// Registers a mock object and a mock method it owns.
+// L < g_gmock_mutex
+void Mock::Register(const void* mock_obj,
+ internal::UntypedFunctionMockerBase* mocker) {
+ internal::MutexLock l(&internal::g_gmock_mutex);
+ g_mock_object_registry.states()[mock_obj].function_mockers.insert(mocker);
+}
+
+// Tells Google Mock where in the source code mock_obj is used in an
+// ON_CALL or EXPECT_CALL. In case mock_obj is leaked, this
+// information helps the user identify which object it is.
+// L < g_gmock_mutex
+void Mock::RegisterUseByOnCallOrExpectCall(
+ const void* mock_obj, const char* file, int line) {
+ internal::MutexLock l(&internal::g_gmock_mutex);
+ MockObjectState& state = g_mock_object_registry.states()[mock_obj];
+ if (state.first_used_file == NULL) {
+ state.first_used_file = file;
+ state.first_used_line = line;
+ const TestInfo* const test_info =
+ UnitTest::GetInstance()->current_test_info();
+ if (test_info != NULL) {
+ // TODO(wan@google.com): record the test case name when the
+ // ON_CALL or EXPECT_CALL is invoked from SetUpTestCase() or
+ // TearDownTestCase().
+ state.first_used_test_case = test_info->test_case_name();
+ state.first_used_test = test_info->name();
+ }
+ }
+}
+
+// Unregisters a mock method; removes the owning mock object from the
+// registry when the last mock method associated with it has been
+// unregistered. This is called only in the destructor of
+// FunctionMockerBase.
+// L >= g_gmock_mutex
+void Mock::UnregisterLocked(internal::UntypedFunctionMockerBase* mocker) {
+ internal::g_gmock_mutex.AssertHeld();
+ for (MockObjectRegistry::StateMap::iterator it =
+ g_mock_object_registry.states().begin();
+ it != g_mock_object_registry.states().end(); ++it) {
+ FunctionMockers& mockers = it->second.function_mockers;
+ if (mockers.erase(mocker) > 0) {
+ // mocker was in mockers and has been just removed.
+ if (mockers.empty()) {
+ g_mock_object_registry.states().erase(it);
+ }
+ return;
+ }
+ }
+}
+
+// Clears all ON_CALL()s set on the given mock object.
+// L >= g_gmock_mutex
+void Mock::ClearDefaultActionsLocked(void* mock_obj) {
+ internal::g_gmock_mutex.AssertHeld();
+
+ if (g_mock_object_registry.states().count(mock_obj) == 0) {
+ // No ON_CALL() was set on the given mock object.
+ return;
+ }
+
+ // Clears the default actions for each mock method in the given mock
+ // object.
+ FunctionMockers& mockers =
+ g_mock_object_registry.states()[mock_obj].function_mockers;
+ for (FunctionMockers::const_iterator it = mockers.begin();
+ it != mockers.end(); ++it) {
+ (*it)->ClearDefaultActionsLocked();
+ }
+
+ // We don't clear the content of mockers, as they may still be
+ // needed by VerifyAndClearExpectationsLocked().
+}
+
+Expectation::Expectation() {}
+
+Expectation::Expectation(
+ const internal::linked_ptr<internal::ExpectationBase>& an_expectation_base)
+ : expectation_base_(an_expectation_base) {}
+
+Expectation::~Expectation() {}
+
+// Adds an expectation to a sequence.
+void Sequence::AddExpectation(const Expectation& expectation) const {
+ if (*last_expectation_ != expectation) {
+ if (last_expectation_->expectation_base() != NULL) {
+ expectation.expectation_base()->immediate_prerequisites_
+ += *last_expectation_;
+ }
+ *last_expectation_ = expectation;
+ }
+}
+
+// Creates the implicit sequence if there isn't one.
+InSequence::InSequence() {
+ if (internal::g_gmock_implicit_sequence.get() == NULL) {
+ internal::g_gmock_implicit_sequence.set(new Sequence);
+ sequence_created_ = true;
+ } else {
+ sequence_created_ = false;
+ }
+}
+
+// Deletes the implicit sequence if it was created by the constructor
+// of this object.
+InSequence::~InSequence() {
+ if (sequence_created_) {
+ delete internal::g_gmock_implicit_sequence.get();
+ internal::g_gmock_implicit_sequence.set(NULL);
+ }
+}
+
+} // namespace testing
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+
+namespace testing {
+
+// TODO(wan@google.com): support using environment variables to
+// control the flag values, like what Google Test does.
+
+GMOCK_DEFINE_bool_(catch_leaked_mocks, true,
+ "true iff Google Mock should report leaked mock objects "
+ "as failures.");
+
+GMOCK_DEFINE_string_(verbose, internal::kWarningVerbosity,
+ "Controls how verbose Google Mock's output is."
+ " Valid values:\n"
+ " info - prints all messages.\n"
+ " warning - prints warnings and errors.\n"
+ " error - prints errors only.");
+
+namespace internal {
+
+// Parses a string as a command line flag. The string should have the
+// format "--gmock_flag=value". When def_optional is true, the
+// "=value" part can be omitted.
+//
+// Returns the value of the flag, or NULL if the parsing failed.
+static const char* ParseGoogleMockFlagValue(const char* str,
+ const char* flag,
+ bool def_optional) {
+ // str and flag must not be NULL.
+ if (str == NULL || flag == NULL) return NULL;
+
+ // The flag must start with "--gmock_".
+ const String flag_str = String::Format("--gmock_%s", flag);
+ const size_t flag_len = flag_str.length();
+ if (strncmp(str, flag_str.c_str(), flag_len) != 0) return NULL;
+
+ // Skips the flag name.
+ const char* flag_end = str + flag_len;
+
+ // When def_optional is true, it's OK to not have a "=value" part.
+ if (def_optional && (flag_end[0] == '\0')) {
+ return flag_end;
+ }
+
+ // If def_optional is true and there are more characters after the
+ // flag name, or if def_optional is false, there must be a '=' after
+ // the flag name.
+ if (flag_end[0] != '=') return NULL;
+
+ // Returns the string after "=".
+ return flag_end + 1;
+}
+
+// Parses a string for a Google Mock bool flag, in the form of
+// "--gmock_flag=value".
+//
+// On success, stores the value of the flag in *value, and returns
+// true. On failure, returns false without changing *value.
+static bool ParseGoogleMockBoolFlag(const char* str, const char* flag,
+ bool* value) {
+ // Gets the value of the flag as a string.
+ const char* const value_str = ParseGoogleMockFlagValue(str, flag, true);
+
+ // Aborts if the parsing failed.
+ if (value_str == NULL) return false;
+
+ // Converts the string value to a bool.
+ *value = !(*value_str == '0' || *value_str == 'f' || *value_str == 'F');
+ return true;
+}
+
+// Parses a string for a Google Mock string flag, in the form of
+// "--gmock_flag=value".
+//
+// On success, stores the value of the flag in *value, and returns
+// true. On failure, returns false without changing *value.
+static bool ParseGoogleMockStringFlag(const char* str, const char* flag,
+ String* value) {
+ // Gets the value of the flag as a string.
+ const char* const value_str = ParseGoogleMockFlagValue(str, flag, false);
+
+ // Aborts if the parsing failed.
+ if (value_str == NULL) return false;
+
+ // Sets *value to the value of the flag.
+ *value = value_str;
+ return true;
+}
+
+// The internal implementation of InitGoogleMock().
+//
+// The type parameter CharType can be instantiated to either char or
+// wchar_t.
+template <typename CharType>
+void InitGoogleMockImpl(int* argc, CharType** argv) {
+ // Makes sure Google Test is initialized. InitGoogleTest() is
+ // idempotent, so it's fine if the user has already called it.
+ InitGoogleTest(argc, argv);
+ if (*argc <= 0) return;
+
+ for (int i = 1; i != *argc; i++) {
+ const String arg_string = StreamableToString(argv[i]);
+ const char* const arg = arg_string.c_str();
+
+ // Do we see a Google Mock flag?
+ if (ParseGoogleMockBoolFlag(arg, "catch_leaked_mocks",
+ &GMOCK_FLAG(catch_leaked_mocks)) ||
+ ParseGoogleMockStringFlag(arg, "verbose", &GMOCK_FLAG(verbose))) {
+ // Yes. Shift the remainder of the argv list left by one. Note
+ // that argv has (*argc + 1) elements, the last one always being
+ // NULL. The following loop moves the trailing NULL element as
+ // well.
+ for (int j = i; j != *argc; j++) {
+ argv[j] = argv[j + 1];
+ }
+
+ // Decrements the argument count.
+ (*argc)--;
+
+ // We also need to decrement the iterator as we just removed
+ // an element.
+ i--;
+ }
+ }
+}
+
+} // namespace internal
+
+// Initializes Google Mock. This must be called before running the
+// tests. In particular, it parses a command line for the flags that
+// Google Mock recognizes. Whenever a Google Mock flag is seen, it is
+// removed from argv, and *argc is decremented.
+//
+// No value is returned. Instead, the Google Mock flag variables are
+// updated.
+//
+// Since Google Test is needed for Google Mock to work, this function
+// also initializes Google Test and parses its flags, if that hasn't
+// been done.
+void InitGoogleMock(int* argc, char** argv) {
+ internal::InitGoogleMockImpl(argc, argv);
+}
+
+// This overloaded version can be used in Windows programs compiled in
+// UNICODE mode.
+void InitGoogleMock(int* argc, wchar_t** argv) {
+ internal::InitGoogleMockImpl(argc, argv);
+}
+
+} // namespace testing
diff --git a/internal/ceres/gmock_main.cc b/internal/ceres/gmock_main.cc
new file mode 100644
index 0000000..92b74d2
--- /dev/null
+++ b/internal/ceres/gmock_main.cc
@@ -0,0 +1,62 @@
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+#include <iostream>
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
+
+// NOTE(keir): This flag is normally part of gtest within Google but isn't in
+// the open source Google Test, since it is build-system dependent. However for
+// Ceres this is needed for our tests. Add the new flag here.
+DEFINE_string(test_srcdir, "", "The location of the source code.");
+
+// MS C++ compiler/linker has a bug on Windows (not on Windows CE), which
+// causes a link error when _tmain is defined in a static library and UNICODE
+// is enabled. For this reason instead of _tmain, main function is used on
+// Windows. See the following link to track the current status of this bug:
+// http://connect.microsoft.com/VisualStudio/feedback/ViewFeedback.aspx?FeedbackID=394464 // NOLINT
+#if GTEST_OS_WINDOWS_MOBILE
+# include <tchar.h> // NOLINT
+
+int _tmain(int argc, TCHAR** argv) {
+#else
+int main(int argc, char** argv) {
+#endif // GTEST_OS_WINDOWS_MOBILE
+ google::ParseCommandLineFlags(&argc, &argv, true);
+ google::InitGoogleLogging(argv[0]);
+ // Since Google Mock depends on Google Test, InitGoogleMock() is
+ // also responsible for initializing Google Test. Therefore there's
+ // no need for calling testing::InitGoogleTest() separately.
+ testing::InitGoogleMock(&argc, argv);
+ return RUN_ALL_TESTS();
+}
diff --git a/internal/ceres/gradient_checker_test.cc b/internal/ceres/gradient_checker_test.cc
new file mode 100644
index 0000000..cf7ee20
--- /dev/null
+++ b/internal/ceres/gradient_checker_test.cc
@@ -0,0 +1,193 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wjr@google.com (William Rucklidge)
+//
+// This file contains tests for the GradientChecker class.
+
+#include "ceres/gradient_checker.h"
+
+#include <cmath>
+#include <cstdlib>
+#include <glog/logging.h>
+#include <vector>
+
+#include "ceres/cost_function.h"
+#include "ceres/random.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+// We pick a (non-quadratic) function whose derivative are easy:
+//
+// f = exp(- a' x).
+// df = - f a.
+//
+// where 'a' is a vector of the same size as 'x'. In the block
+// version, they are both block vectors, of course.
+class GoodTestTerm : public CostFunction {
+ public:
+ GoodTestTerm(int arity, int const *dim) : arity_(arity) {
+ // Make 'arity' random vectors.
+ a_.resize(arity_);
+ for (int j = 0; j < arity_; ++j) {
+ a_[j].resize(dim[j]);
+ for (int u = 0; u < dim[j]; ++u) {
+ a_[j][u] = 2.0 * RandDouble() - 1.0;
+ }
+ }
+
+ for (int i = 0; i < arity_; i++) {
+ mutable_parameter_block_sizes()->push_back(dim[i]);
+ }
+ set_num_residuals(1);
+ }
+
+ bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ // Compute a . x.
+ double ax = 0;
+ for (int j = 0; j < arity_; ++j) {
+ for (int u = 0; u < parameter_block_sizes()[j]; ++u) {
+ ax += a_[j][u] * parameters[j][u];
+ }
+ }
+
+ // This is the cost, but also appears as a factor
+ // in the derivatives.
+ double f = *residuals = exp(-ax);
+
+ // Accumulate 1st order derivatives.
+ if (jacobians) {
+ for (int j = 0; j < arity_; ++j) {
+ if (jacobians[j]) {
+ for (int u = 0; u < parameter_block_sizes()[j]; ++u) {
+ // See comments before class.
+ jacobians[j][u] = - f * a_[j][u];
+ }
+ }
+ }
+ }
+
+ return true;
+ }
+
+ private:
+ int arity_;
+ vector<vector<double> > a_; // our vectors.
+};
+
+class BadTestTerm : public CostFunction {
+ public:
+ BadTestTerm(int arity, int const *dim) : arity_(arity) {
+ // Make 'arity' random vectors.
+ a_.resize(arity_);
+ for (int j = 0; j < arity_; ++j) {
+ a_[j].resize(dim[j]);
+ for (int u = 0; u < dim[j]; ++u) {
+ a_[j][u] = 2.0 * RandDouble() - 1.0;
+ }
+ }
+
+ for (int i = 0; i < arity_; i++) {
+ mutable_parameter_block_sizes()->push_back(dim[i]);
+ }
+ set_num_residuals(1);
+ }
+
+ bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ // Compute a . x.
+ double ax = 0;
+ for (int j = 0; j < arity_; ++j) {
+ for (int u = 0; u < parameter_block_sizes()[j]; ++u) {
+ ax += a_[j][u] * parameters[j][u];
+ }
+ }
+
+ // This is the cost, but also appears as a factor
+ // in the derivatives.
+ double f = *residuals = exp(-ax);
+
+ // Accumulate 1st order derivatives.
+ if (jacobians) {
+ for (int j = 0; j < arity_; ++j) {
+ if (jacobians[j]) {
+ for (int u = 0; u < parameter_block_sizes()[j]; ++u) {
+ // See comments before class.
+ jacobians[j][u] = - f * a_[j][u] + 0.001;
+ }
+ }
+ }
+ }
+
+ return true;
+ }
+
+ private:
+ int arity_;
+ vector<vector<double> > a_; // our vectors.
+};
+
+TEST(GradientChecker, SmokeTest) {
+ srand(5);
+
+ // Test with 3 blocks of size 2, 3 and 4.
+ int const arity = 3;
+ int const dim[arity] = { 2, 3, 4 };
+
+ // Make a random set of blocks.
+ FixedArray<double*> parameters(arity);
+ for (int j = 0; j < arity; ++j) {
+ parameters[j] = new double[dim[j]];
+ for (int u = 0; u < dim[j]; ++u) {
+ parameters[j][u] = 2.0 * RandDouble() - 1.0;
+ }
+ }
+
+ // Make a term and probe it.
+ GoodTestTerm good_term(arity, dim);
+ typedef GradientChecker<GoodTestTerm, 1, 2, 3, 4> GoodTermGradientChecker;
+ EXPECT_TRUE(GoodTermGradientChecker::Probe(
+ parameters.get(), 1e-6, &good_term, NULL));
+
+ BadTestTerm bad_term(arity, dim);
+ typedef GradientChecker<BadTestTerm, 1, 2, 3, 4> BadTermGradientChecker;
+ EXPECT_FALSE(BadTermGradientChecker::Probe(
+ parameters.get(), 1e-6, &bad_term, NULL));
+
+ for (int j = 0; j < arity; j++) {
+ delete[] parameters[j];
+ }
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/gradient_checking_cost_function.cc b/internal/ceres/gradient_checking_cost_function.cc
new file mode 100644
index 0000000..3edf95d
--- /dev/null
+++ b/internal/ceres/gradient_checking_cost_function.cc
@@ -0,0 +1,308 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "ceres/gradient_checking_cost_function.h"
+
+#include <algorithm>
+#include <cmath>
+#include <numeric>
+#include <string>
+#include <vector>
+
+#include "ceres/cost_function.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/parameter_block.h"
+#include "ceres/problem.h"
+#include "ceres/problem_impl.h"
+#include "ceres/program.h"
+#include "ceres/residual_block.h"
+#include "ceres/runtime_numeric_diff_cost_function.h"
+#include "ceres/stringprintf.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+namespace {
+
+// True if x and y have an absolute relative difference less than
+// relative_precision and false otherwise. Stores the relative and absolute
+// difference in relative/absolute_error if non-NULL.
+bool IsClose(double x, double y, double relative_precision,
+ double *relative_error,
+ double *absolute_error) {
+ double local_absolute_error;
+ double local_relative_error;
+ if (!absolute_error) {
+ absolute_error = &local_absolute_error;
+ }
+ if (!relative_error) {
+ relative_error = &local_relative_error;
+ }
+ *absolute_error = fabs(x - y);
+ *relative_error = *absolute_error / max(fabs(x), fabs(y));
+ if (x == 0 || y == 0) {
+ // If x or y is exactly zero, then relative difference doesn't have any
+ // meaning. Take the absolute difference instead.
+ *relative_error = *absolute_error;
+ }
+ return fabs(*relative_error) < fabs(relative_precision);
+}
+
+class GradientCheckingCostFunction : public CostFunction {
+ public:
+ GradientCheckingCostFunction(const CostFunction* function,
+ double relative_step_size,
+ double relative_precision,
+ const string& extra_info)
+ : function_(function),
+ finite_diff_cost_function_(
+ CreateRuntimeNumericDiffCostFunction(function,
+ CENTRAL,
+ relative_step_size)),
+ relative_precision_(relative_precision),
+ extra_info_(extra_info) {
+ *mutable_parameter_block_sizes() = function->parameter_block_sizes();
+ set_num_residuals(function->num_residuals());
+ }
+
+ virtual ~GradientCheckingCostFunction() { }
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ if (!jacobians) {
+ // Nothing to check in this case; just forward.
+ return function_->Evaluate(parameters, residuals, NULL);
+ }
+
+ int num_residuals = function_->num_residuals();
+
+ // Make space for the jacobians of the two methods.
+ const vector<int16>& block_sizes = function_->parameter_block_sizes();
+ vector<Matrix> term_jacobians(block_sizes.size());
+ vector<Matrix> finite_difference_jacobians(block_sizes.size());
+ vector<double*> term_jacobian_pointers(block_sizes.size());
+ vector<double*> finite_difference_jacobian_pointers(block_sizes.size());
+ for (int i = 0; i < block_sizes.size(); i++) {
+ term_jacobians[i].resize(num_residuals, block_sizes[i]);
+ term_jacobian_pointers[i] = term_jacobians[i].data();
+ finite_difference_jacobians[i].resize(num_residuals, block_sizes[i]);
+ finite_difference_jacobian_pointers[i] =
+ finite_difference_jacobians[i].data();
+ }
+
+ // Evaluate the derivative using the user supplied code.
+ if (!function_->Evaluate(parameters,
+ residuals,
+ &term_jacobian_pointers[0])) {
+ LOG(WARNING) << "Function evaluation failed.";
+ return false;
+ }
+
+ // Evaluate the derivative using numeric derivatives.
+ finite_diff_cost_function_->Evaluate(
+ parameters,
+ residuals,
+ &finite_difference_jacobian_pointers[0]);
+
+ // See if any elements have relative error larger than the threshold.
+ int num_bad_jacobian_components = 0;
+ double worst_relative_error = 0;
+
+ // Accumulate the error message for all the jacobians, since it won't get
+ // output if there are no bad jacobian components.
+ string m;
+ for (int k = 0; k < block_sizes.size(); k++) {
+ // Copy the original jacobian blocks into the jacobians array.
+ if (jacobians[k] != NULL) {
+ MatrixRef(jacobians[k],
+ term_jacobians[k].rows(),
+ term_jacobians[k].cols()) = term_jacobians[k];
+ }
+
+ StringAppendF(&m,
+ "========== "
+ "Jacobian for " "block %d: (%ld by %ld)) "
+ "==========\n",
+ k,
+ static_cast<long>(term_jacobians[k].rows()),
+ static_cast<long>(term_jacobians[k].cols()));
+ // The funny spacing creates appropriately aligned column headers.
+ m += " block row col user dx/dy num diff dx/dy "
+ "abs error relative error parameter residual\n";
+
+ for (int i = 0; i < term_jacobians[k].rows(); i++) {
+ for (int j = 0; j < term_jacobians[k].cols(); j++) {
+ double term_jacobian = term_jacobians[k](i, j);
+ double finite_jacobian = finite_difference_jacobians[k](i, j);
+ double relative_error, absolute_error;
+ bool bad_jacobian_entry =
+ !IsClose(term_jacobian,
+ finite_jacobian,
+ relative_precision_,
+ &relative_error,
+ &absolute_error);
+ worst_relative_error = std::max(worst_relative_error,
+ relative_error);
+
+ StringAppendF(&m, "%6d %4d %4d %17g %17g %17g %17g %17g %17g",
+ k, i, j,
+ term_jacobian, finite_jacobian,
+ absolute_error, relative_error,
+ parameters[k][j],
+ residuals[i]);
+
+ if (bad_jacobian_entry) {
+ num_bad_jacobian_components++;
+ StringAppendF(
+ &m, " ------ (%d,%d,%d) Relative error worse than %g",
+ k, i, j, relative_precision_);
+ }
+ m += "\n";
+ }
+ }
+ }
+
+ // Since there were some bad errors, dump comprehensive debug info.
+ if (num_bad_jacobian_components) {
+ string header = StringPrintf("Detected %d bad jacobian component(s). "
+ "Worst relative error was %g.\n",
+ num_bad_jacobian_components,
+ worst_relative_error);
+ if (!extra_info_.empty()) {
+ header += "Extra info for this residual: " + extra_info_ + "\n";
+ }
+ LOG(WARNING) << "\n" << header << m;
+ }
+ return true;
+ }
+
+ private:
+ const CostFunction* function_;
+ internal::scoped_ptr<CostFunction> finite_diff_cost_function_;
+ double relative_precision_;
+ string extra_info_;
+};
+
+} // namespace
+
+CostFunction *CreateGradientCheckingCostFunction(
+ const CostFunction *cost_function,
+ double relative_step_size,
+ double relative_precision,
+ const string& extra_info) {
+ return new GradientCheckingCostFunction(cost_function,
+ relative_step_size,
+ relative_precision,
+ extra_info);
+}
+
+ProblemImpl* CreateGradientCheckingProblemImpl(ProblemImpl* problem_impl,
+ double relative_step_size,
+ double relative_precision) {
+ // We create new CostFunctions by wrapping the original CostFunction
+ // in a gradient checking CostFunction. So its okay for the
+ // ProblemImpl to take ownership of it and destroy it. The
+ // LossFunctions and LocalParameterizations are reused and since
+ // they are owned by problem_impl, gradient_checking_problem_impl
+ // should not take ownership of it.
+ Problem::Options gradient_checking_problem_options;
+ gradient_checking_problem_options.cost_function_ownership = TAKE_OWNERSHIP;
+ gradient_checking_problem_options.loss_function_ownership =
+ DO_NOT_TAKE_OWNERSHIP;
+ gradient_checking_problem_options.local_parameterization_ownership =
+ DO_NOT_TAKE_OWNERSHIP;
+
+ ProblemImpl* gradient_checking_problem_impl = new ProblemImpl(
+ gradient_checking_problem_options);
+
+ Program* program = problem_impl->mutable_program();
+
+ // For every ParameterBlock in problem_impl, create a new parameter
+ // block with the same local parameterization and constancy.
+ const vector<ParameterBlock*>& parameter_blocks = program->parameter_blocks();
+ for (int i = 0; i < parameter_blocks.size(); ++i) {
+ ParameterBlock* parameter_block = parameter_blocks[i];
+ gradient_checking_problem_impl->AddParameterBlock(
+ parameter_block->mutable_user_state(),
+ parameter_block->Size(),
+ parameter_block->mutable_local_parameterization());
+
+ if (parameter_block->IsConstant()) {
+ gradient_checking_problem_impl->SetParameterBlockConstant(
+ parameter_block->mutable_user_state());
+ }
+ }
+
+ // For every ResidualBlock in problem_impl, create a new
+ // ResidualBlock by wrapping its CostFunction inside a
+ // GradientCheckingCostFunction.
+ const vector<ResidualBlock*>& residual_blocks = program->residual_blocks();
+ for (int i = 0; i < residual_blocks.size(); ++i) {
+ ResidualBlock* residual_block = residual_blocks[i];
+
+ // Build a human readable string which identifies the
+ // ResidualBlock. This is used by the GradientCheckingCostFunction
+ // when logging debugging information.
+ string extra_info = StringPrintf(
+ "Residual block id %d; depends on parameters [", i);
+ vector<double*> parameter_blocks;
+ for (int j = 0; j < residual_block->NumParameterBlocks(); ++j) {
+ ParameterBlock* parameter_block = residual_block->parameter_blocks()[j];
+ parameter_blocks.push_back(parameter_block->mutable_user_state());
+ StringAppendF(&extra_info, "%p", parameter_block->mutable_user_state());
+ extra_info += (j < residual_block->NumParameterBlocks() - 1) ? ", " : "]";
+ }
+
+ // Wrap the original CostFunction in a GradientCheckingCostFunction.
+ CostFunction* gradient_checking_cost_function =
+ CreateGradientCheckingCostFunction(residual_block->cost_function(),
+ relative_step_size,
+ relative_precision,
+ extra_info);
+
+ // The const_cast is necessary because
+ // ProblemImpl::AddResidualBlock can potentially take ownership of
+ // the LossFunction, but in this case we are guaranteed that this
+ // will not be the case, so this const_cast is harmless.
+ gradient_checking_problem_impl->AddResidualBlock(
+ gradient_checking_cost_function,
+ const_cast<LossFunction*>(residual_block->loss_function()),
+ parameter_blocks);
+ }
+
+ return gradient_checking_problem_impl;
+}
+
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/gradient_checking_cost_function.h b/internal/ceres/gradient_checking_cost_function.h
new file mode 100644
index 0000000..d49c8e6
--- /dev/null
+++ b/internal/ceres/gradient_checking_cost_function.h
@@ -0,0 +1,85 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#ifndef CERES_INTERNAL_GRADIENT_CHECKING_COST_FUNCTION_H_
+#define CERES_INTERNAL_GRADIENT_CHECKING_COST_FUNCTION_H_
+
+#include <string>
+
+#include "ceres/cost_function.h"
+
+namespace ceres {
+namespace internal {
+
+class ProblemImpl;
+
+// Creates a CostFunction that checks the jacobians that cost_function computes
+// with finite differences. Bad results are logged; required precision is
+// controlled by relative_precision and the numeric differentiation step size is
+// controlled with relative_step_size. See solver.h for a better explanation of
+// relative_step_size. Caller owns result.
+//
+// The condition enforced is that
+//
+// (J_actual(i, j) - J_numeric(i, j))
+// ------------------------------------ < relative_precision
+// max(J_actual(i, j), J_numeric(i, j))
+//
+// where J_actual(i, j) is the jacobian as computed by the supplied cost
+// function (by the user) and J_numeric is the jacobian as computed by finite
+// differences.
+//
+// Note: This is quite inefficient and is intended only for debugging.
+CostFunction* CreateGradientCheckingCostFunction(
+ const CostFunction* cost_function,
+ double relative_step_size,
+ double relative_precision,
+ const string& extra_info);
+
+// Create a new ProblemImpl object from the input problem_impl, where
+// each CostFunctions in problem_impl are wrapped inside a
+// GradientCheckingCostFunctions. This gives us a ProblemImpl object
+// which checks its derivatives against estimates from numeric
+// differentiation everytime a ResidualBlock is evaluated.
+//
+// relative_step_size and relative_precision are parameters to control
+// the numeric differentiation and the relative tolerance between the
+// jacobian computed by the CostFunctions in problem_impl and
+// jacobians obtained by numerically differentiating them. For more
+// details see the documentation for
+// CreateGradientCheckingCostFunction above.
+ProblemImpl* CreateGradientCheckingProblemImpl(ProblemImpl* problem_impl,
+ double relative_step_size,
+ double relative_precision);
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_GRADIENT_CHECKING_COST_FUNCTION_H_
diff --git a/internal/ceres/gradient_checking_cost_function_test.cc b/internal/ceres/gradient_checking_cost_function_test.cc
new file mode 100644
index 0000000..ac06503
--- /dev/null
+++ b/internal/ceres/gradient_checking_cost_function_test.cc
@@ -0,0 +1,417 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "ceres/gradient_checking_cost_function.h"
+
+#include <cmath>
+#include <vector>
+#include "ceres/cost_function.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/loss_function.h"
+#include "ceres/parameter_block.h"
+#include "ceres/problem_impl.h"
+#include "ceres/program.h"
+#include "ceres/random.h"
+#include "ceres/residual_block.h"
+#include "ceres/sized_cost_function.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+#include "gmock/gmock.h"
+#include "gmock/mock-log.h"
+#include "gtest/gtest.h"
+
+using testing::AllOf;
+using testing::AnyNumber;
+using testing::HasSubstr;
+using testing::ScopedMockLog;
+using testing::_;
+
+namespace ceres {
+namespace internal {
+
+// Pick a (non-quadratic) function whose derivative are easy:
+//
+// f = exp(- a' x).
+// df = - f a.
+//
+// where 'a' is a vector of the same size as 'x'. In the block
+// version, they are both block vectors, of course.
+template<int bad_block = 1, int bad_variable = 2>
+class TestTerm : public CostFunction {
+ public:
+ // The constructor of this function needs to know the number
+ // of blocks desired, and the size of each block.
+ TestTerm(int arity, int const *dim) : arity_(arity) {
+ // Make 'arity' random vectors.
+ a_.resize(arity_);
+ for (int j = 0; j < arity_; ++j) {
+ a_[j].resize(dim[j]);
+ for (int u = 0; u < dim[j]; ++u) {
+ a_[j][u] = 2.0 * RandDouble() - 1.0;
+ }
+ }
+
+ for (int i = 0; i < arity_; i++) {
+ mutable_parameter_block_sizes()->push_back(dim[i]);
+ }
+ set_num_residuals(1);
+ }
+
+ bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ // Compute a . x.
+ double ax = 0;
+ for (int j = 0; j < arity_; ++j) {
+ for (int u = 0; u < parameter_block_sizes()[j]; ++u) {
+ ax += a_[j][u] * parameters[j][u];
+ }
+ }
+
+ // This is the cost, but also appears as a factor
+ // in the derivatives.
+ double f = *residuals = exp(-ax);
+
+ // Accumulate 1st order derivatives.
+ if (jacobians) {
+ for (int j = 0; j < arity_; ++j) {
+ if (jacobians[j]) {
+ for (int u = 0; u < parameter_block_sizes()[j]; ++u) {
+ // See comments before class.
+ jacobians[j][u] = - f * a_[j][u];
+
+ if (bad_block == j && bad_variable == u) {
+ // Whoopsiedoopsie! Deliberately introduce a faulty jacobian entry
+ // like what happens when users make an error in their jacobian
+ // computations. This should get detected.
+ LOG(INFO) << "Poisoning jacobian for parameter block " << j
+ << ", row 0, column " << u;
+ jacobians[j][u] += 500;
+ }
+ }
+ }
+ }
+ }
+
+ return true;
+ }
+
+ private:
+ int arity_;
+ vector<vector<double> > a_;
+};
+
+TEST(GradientCheckingCostFunction, ResidualsAndJacobiansArePreservedTest) {
+ srand(5);
+
+ // Test with 3 blocks of size 2, 3 and 4.
+ int const arity = 3;
+ int const dim[arity] = { 2, 3, 4 };
+
+ // Make a random set of blocks.
+ vector<double*> parameters(arity);
+ for (int j = 0; j < arity; ++j) {
+ parameters[j] = new double[dim[j]];
+ for (int u = 0; u < dim[j]; ++u) {
+ parameters[j][u] = 2.0 * RandDouble() - 1.0;
+ }
+ }
+
+ double original_residual;
+ double residual;
+ vector<double*> original_jacobians(arity);
+ vector<double*> jacobians(arity);
+
+ for (int j = 0; j < arity; ++j) {
+ // Since residual is one dimensional the jacobians have the same
+ // size as the parameter blocks.
+ jacobians[j] = new double[dim[j]];
+ original_jacobians[j] = new double[dim[j]];
+ }
+
+ const double kRelativeStepSize = 1e-6;
+ const double kRelativePrecision = 1e-4;
+
+ TestTerm<-1, -1> term(arity, dim);
+ scoped_ptr<CostFunction> gradient_checking_cost_function(
+ CreateGradientCheckingCostFunction(&term,
+ kRelativeStepSize,
+ kRelativePrecision,
+ "Ignored."));
+ term.Evaluate(¶meters[0],
+ &original_residual,
+ &original_jacobians[0]);
+
+ gradient_checking_cost_function->Evaluate(¶meters[0],
+ &residual,
+ &jacobians[0]);
+ EXPECT_EQ(original_residual, residual);
+
+ for (int j = 0; j < arity; j++) {
+ for (int k = 0; k < dim[j]; ++k) {
+ EXPECT_EQ(original_jacobians[j][k], jacobians[j][k]);
+ }
+
+ delete[] parameters[j];
+ delete[] jacobians[j];
+ delete[] original_jacobians[j];
+ }
+}
+
+TEST(GradientCheckingCostFunction, SmokeTest) {
+ srand(5);
+
+ // Test with 3 blocks of size 2, 3 and 4.
+ int const arity = 3;
+ int const dim[arity] = { 2, 3, 4 };
+
+ // Make a random set of blocks.
+ vector<double*> parameters(arity);
+ for (int j = 0; j < arity; ++j) {
+ parameters[j] = new double[dim[j]];
+ for (int u = 0; u < dim[j]; ++u) {
+ parameters[j][u] = 2.0 * RandDouble() - 1.0;
+ }
+ }
+
+ double residual;
+ vector<double*> jacobians(arity);
+ for (int j = 0; j < arity; ++j) {
+ // Since residual is one dimensional the jacobians have the same size as the
+ // parameter blocks.
+ jacobians[j] = new double[dim[j]];
+ }
+
+ const double kRelativeStepSize = 1e-6;
+ const double kRelativePrecision = 1e-4;
+
+ // Should have one term that's bad, causing everything to get dumped.
+ LOG(INFO) << "Bad gradient";
+ {
+ TestTerm<1, 2> term(arity, dim);
+ scoped_ptr<CostFunction> gradient_checking_cost_function(
+ CreateGradientCheckingCostFunction(&term,
+ kRelativeStepSize,
+ kRelativePrecision,
+ "Fuzzy bananas"));
+
+ ScopedMockLog log;
+ EXPECT_CALL(log, Log(_, _, _)).Times(AnyNumber());
+ EXPECT_CALL(log, Log(WARNING, _,
+ AllOf(HasSubstr("(1,0,2) Relative error worse than"),
+ HasSubstr("Fuzzy bananas"))));
+
+ gradient_checking_cost_function->Evaluate(¶meters[0],
+ &residual,
+ &jacobians[0]);
+ }
+
+ // The gradient is correct, so no errors are reported.
+ LOG(INFO) << "Good gradient";
+ {
+ TestTerm<-1, -1> term(arity, dim);
+ scoped_ptr<CostFunction> gradient_checking_cost_function(
+ CreateGradientCheckingCostFunction(&term,
+ kRelativeStepSize,
+ kRelativePrecision,
+ "Ignored."));
+
+ ScopedMockLog log;
+ EXPECT_CALL(log, Log(_, _, _)).Times(0);
+
+ gradient_checking_cost_function->Evaluate(¶meters[0],
+ &residual,
+ &jacobians[0]);
+ }
+
+ for (int j = 0; j < arity; j++) {
+ delete[] parameters[j];
+ delete[] jacobians[j];
+ }
+}
+
+// The following three classes are for the purposes of defining
+// function signatures. They have dummy Evaluate functions.
+
+// Trivial cost function that accepts a single argument.
+class UnaryCostFunction : public CostFunction {
+ public:
+ UnaryCostFunction(int num_residuals, int16 parameter_block_size) {
+ set_num_residuals(num_residuals);
+ mutable_parameter_block_sizes()->push_back(parameter_block_size);
+ }
+ virtual ~UnaryCostFunction() {}
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ for (int i = 0; i < num_residuals(); ++i) {
+ residuals[i] = 1;
+ }
+ return true;
+ }
+};
+
+// Trivial cost function that accepts two arguments.
+class BinaryCostFunction: public CostFunction {
+ public:
+ BinaryCostFunction(int num_residuals,
+ int16 parameter_block1_size,
+ int16 parameter_block2_size) {
+ set_num_residuals(num_residuals);
+ mutable_parameter_block_sizes()->push_back(parameter_block1_size);
+ mutable_parameter_block_sizes()->push_back(parameter_block2_size);
+ }
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ for (int i = 0; i < num_residuals(); ++i) {
+ residuals[i] = 2;
+ }
+ return true;
+ }
+};
+
+// Trivial cost function that accepts three arguments.
+class TernaryCostFunction: public CostFunction {
+ public:
+ TernaryCostFunction(int num_residuals,
+ int16 parameter_block1_size,
+ int16 parameter_block2_size,
+ int16 parameter_block3_size) {
+ set_num_residuals(num_residuals);
+ mutable_parameter_block_sizes()->push_back(parameter_block1_size);
+ mutable_parameter_block_sizes()->push_back(parameter_block2_size);
+ mutable_parameter_block_sizes()->push_back(parameter_block3_size);
+ }
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ for (int i = 0; i < num_residuals(); ++i) {
+ residuals[i] = 3;
+ }
+ return true;
+ }
+};
+
+// Verify that the two ParameterBlocks are formed from the same user
+// array and have the same LocalParameterization object.
+void ParameterBlocksAreEquivalent(const ParameterBlock* left,
+ const ParameterBlock* right) {
+ CHECK_NOTNULL(left);
+ CHECK_NOTNULL(right);
+ EXPECT_EQ(left->user_state(), right->user_state());
+ EXPECT_EQ(left->Size(), right->Size());
+ EXPECT_EQ(left->Size(), right->Size());
+ EXPECT_EQ(left->LocalSize(), right->LocalSize());
+ EXPECT_EQ(left->local_parameterization(), right->local_parameterization());
+ EXPECT_EQ(left->IsConstant(), right->IsConstant());
+}
+
+TEST(GradientCheckingProblemImpl, ProblemDimensionsMatch) {
+ // Parameter blocks with arbitrarily chosen initial values.
+ double x[] = {1.0, 2.0, 3.0};
+ double y[] = {4.0, 5.0, 6.0, 7.0};
+ double z[] = {8.0, 9.0, 10.0, 11.0, 12.0};
+ double w[] = {13.0, 14.0, 15.0, 16.0};
+
+ ProblemImpl problem_impl;
+ problem_impl.AddParameterBlock(x, 3);
+ problem_impl.AddParameterBlock(y, 4);
+ problem_impl.SetParameterBlockConstant(y);
+ problem_impl.AddParameterBlock(z, 5);
+ problem_impl.AddParameterBlock(w, 4, new QuaternionParameterization);
+ problem_impl.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
+ problem_impl.AddResidualBlock(new BinaryCostFunction(6, 5, 4) ,
+ NULL, z, y);
+ problem_impl.AddResidualBlock(new BinaryCostFunction(3, 3, 5),
+ new TrivialLoss, x, z);
+ problem_impl.AddResidualBlock(new BinaryCostFunction(7, 5, 3),
+ NULL, z, x);
+ problem_impl.AddResidualBlock(new TernaryCostFunction(1, 5, 3, 4),
+ NULL, z, x, y);
+
+ scoped_ptr<ProblemImpl> gradient_checking_problem_impl(
+ CreateGradientCheckingProblemImpl(&problem_impl, 1.0, 1.0));
+
+ // The dimensions of the two problems match.
+ EXPECT_EQ(problem_impl.NumParameterBlocks(),
+ gradient_checking_problem_impl->NumParameterBlocks());
+ EXPECT_EQ(problem_impl.NumResidualBlocks(),
+ gradient_checking_problem_impl->NumResidualBlocks());
+
+ EXPECT_EQ(problem_impl.NumParameters(),
+ gradient_checking_problem_impl->NumParameters());
+ EXPECT_EQ(problem_impl.NumResiduals(),
+ gradient_checking_problem_impl->NumResiduals());
+
+ const Program& program = problem_impl.program();
+ const Program& gradient_checking_program =
+ gradient_checking_problem_impl->program();
+
+ // Since we added the ParameterBlocks and ResidualBlocks explicitly,
+ // they should be in the same order in the two programs. It is
+ // possible that may change due to implementation changes to
+ // Program. This is not exepected to be the case and writing code to
+ // anticipate that possibility not worth the extra complexity in
+ // this test.
+ for (int i = 0; i < program.parameter_blocks().size(); ++i) {
+ ParameterBlocksAreEquivalent(
+ program.parameter_blocks()[i],
+ gradient_checking_program.parameter_blocks()[i]);
+ }
+
+ for (int i = 0; i < program.residual_blocks().size(); ++i) {
+ // Compare the sizes of the two ResidualBlocks.
+ const ResidualBlock* original_residual_block =
+ program.residual_blocks()[i];
+ const ResidualBlock* new_residual_block =
+ gradient_checking_program.residual_blocks()[i];
+ EXPECT_EQ(original_residual_block->NumParameterBlocks(),
+ new_residual_block->NumParameterBlocks());
+ EXPECT_EQ(original_residual_block->NumResiduals(),
+ new_residual_block->NumResiduals());
+ EXPECT_EQ(original_residual_block->NumScratchDoublesForEvaluate(),
+ new_residual_block->NumScratchDoublesForEvaluate());
+
+ // Verify that the ParameterBlocks for the two residuals are equivalent.
+ for (int j = 0; j < original_residual_block->NumParameterBlocks(); ++j) {
+ ParameterBlocksAreEquivalent(
+ original_residual_block->parameter_blocks()[j],
+ new_residual_block->parameter_blocks()[j]);
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/graph.h b/internal/ceres/graph.h
new file mode 100644
index 0000000..e080489
--- /dev/null
+++ b/internal/ceres/graph.h
@@ -0,0 +1,160 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_GRAPH_H_
+#define CERES_INTERNAL_GRAPH_H_
+
+#include <limits>
+#include <glog/logging.h>
+#include "ceres/integral_types.h"
+#include "ceres/map_util.h"
+#include "ceres/collections_port.h"
+#include "ceres/internal/macros.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+// A weighted undirected graph templated over the vertex ids. Vertex
+// should be hashable and comparable.
+template <typename Vertex>
+class Graph {
+ public:
+ Graph() {}
+
+ // Add a weighted vertex. If the vertex already exists in the graph,
+ // its weight is set to the new weight.
+ void AddVertex(const Vertex& vertex, double weight) {
+ if (vertices_.find(vertex) == vertices_.end()) {
+ vertices_.insert(vertex);
+ edges_[vertex] = HashSet<Vertex>();
+ }
+ vertex_weights_[vertex] = weight;
+ }
+
+ // Uses weight = 1.0. If vertex already exists, its weight is set to
+ // 1.0.
+ void AddVertex(const Vertex& vertex) {
+ AddVertex(vertex, 1.0);
+ }
+
+ bool RemoveVertex(const Vertex& vertex) {
+ if (vertices_.find(vertex) == vertices_.end()) {
+ return false;
+ }
+
+ vertices_.erase(vertex);
+ vertex_weights_.erase(vertex);
+ const HashSet<Vertex>& sinks = edges_[vertex];
+ for (typename HashSet<Vertex>::const_iterator it = sinks.begin();
+ it != sinks.end(); ++it) {
+ if (vertex < *it) {
+ edge_weights_.erase(make_pair(vertex, *it));
+ } else {
+ edge_weights_.erase(make_pair(*it, vertex));
+ }
+ edges_[*it].erase(vertex);
+ }
+
+ edges_.erase(vertex);
+ return true;
+ }
+
+ // Add a weighted edge between the vertex1 and vertex2. Calling
+ // AddEdge on a pair of vertices which do not exist in the graph yet
+ // will result in undefined behavior.
+ //
+ // It is legal to call this method repeatedly for the same set of
+ // vertices.
+ void AddEdge(const Vertex& vertex1, const Vertex& vertex2, double weight) {
+ DCHECK(vertices_.find(vertex1) != vertices_.end());
+ DCHECK(vertices_.find(vertex2) != vertices_.end());
+
+ if (edges_[vertex1].insert(vertex2).second) {
+ edges_[vertex2].insert(vertex1);
+ }
+
+ if (vertex1 < vertex2) {
+ edge_weights_[make_pair(vertex1, vertex2)] = weight;
+ } else {
+ edge_weights_[make_pair(vertex2, vertex1)] = weight;
+ }
+ }
+
+ // Uses weight = 1.0.
+ void AddEdge(const Vertex& vertex1, const Vertex& vertex2) {
+ AddEdge(vertex1, vertex2, 1.0);
+ }
+
+ // Calling VertexWeight on a vertex not in the graph will result in
+ // undefined behavior.
+ double VertexWeight(const Vertex& vertex) const {
+ return FindOrDie(vertex_weights_, vertex);
+ }
+
+ // Calling EdgeWeight on a pair of vertices where either one of the
+ // vertices is not present in the graph will result in undefined
+ // behaviour. If there is no edge connecting vertex1 and vertex2,
+ // the edge weight is zero.
+ double EdgeWeight(const Vertex& vertex1, const Vertex& vertex2) const {
+ if (vertex1 < vertex2) {
+ return FindWithDefault(edge_weights_, make_pair(vertex1, vertex2), 0.0);
+ } else {
+ return FindWithDefault(edge_weights_, make_pair(vertex2, vertex1), 0.0);
+ }
+ }
+
+ // Calling Neighbors on a vertex not in the graph will result in
+ // undefined behaviour.
+ const HashSet<Vertex>& Neighbors(const Vertex& vertex) const {
+ return FindOrDie(edges_, vertex);
+ }
+
+ const HashSet<Vertex>& vertices() const {
+ return vertices_;
+ }
+
+ static double InvalidWeight() {
+ return std::numeric_limits<double>::quiet_NaN();
+ };
+
+ private:
+ HashSet<Vertex> vertices_;
+ HashMap<Vertex, double> vertex_weights_;
+ HashMap<Vertex, HashSet<Vertex> > edges_;
+ HashMap<pair<Vertex, Vertex>, double> edge_weights_;
+
+ CERES_DISALLOW_COPY_AND_ASSIGN(Graph);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_GRAPH_H_
diff --git a/internal/ceres/graph_algorithms.h b/internal/ceres/graph_algorithms.h
new file mode 100644
index 0000000..3b42d93
--- /dev/null
+++ b/internal/ceres/graph_algorithms.h
@@ -0,0 +1,270 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Various algorithms that operate on undirected graphs.
+
+#ifndef CERES_INTERNAL_GRAPH_ALGORITHMS_H_
+#define CERES_INTERNAL_GRAPH_ALGORITHMS_H_
+
+#include <vector>
+#include <glog/logging.h>
+#include "ceres/collections_port.h"
+#include "ceres/graph.h"
+
+namespace ceres {
+namespace internal {
+
+// Compare two vertices of a graph by their degrees.
+template <typename Vertex>
+class VertexDegreeLessThan {
+ public:
+ explicit VertexDegreeLessThan(const Graph<Vertex>& graph)
+ : graph_(graph) {}
+
+ bool operator()(const Vertex& lhs, const Vertex& rhs) const {
+ if (graph_.Neighbors(lhs).size() == graph_.Neighbors(rhs).size()) {
+ return lhs < rhs;
+ }
+ return graph_.Neighbors(lhs).size() < graph_.Neighbors(rhs).size();
+ }
+
+ private:
+ const Graph<Vertex>& graph_;
+};
+
+// Order the vertices of a graph using its (approximately) largest
+// independent set, where an independent set of a graph is a set of
+// vertices that have no edges connecting them. The maximum
+// independent set problem is NP-Hard, but there are effective
+// approximation algorithms available. The implementation here uses a
+// breadth first search that explores the vertices in order of
+// increasing degree. The same idea is used by Saad & Li in "MIQR: A
+// multilevel incomplete QR preconditioner for large sparse
+// least-squares problems", SIMAX, 2007.
+//
+// Given a undirected graph G(V,E), the algorithm is a greedy BFS
+// search where the vertices are explored in increasing order of their
+// degree. The output vector ordering contains elements of S in
+// increasing order of their degree, followed by elements of V - S in
+// increasing order of degree. The return value of the function is the
+// cardinality of S.
+template <typename Vertex>
+int IndependentSetOrdering(const Graph<Vertex>& graph,
+ vector<Vertex>* ordering) {
+ const HashSet<Vertex>& vertices = graph.vertices();
+ const int num_vertices = vertices.size();
+
+ CHECK_NOTNULL(ordering);
+ ordering->clear();
+ ordering->reserve(num_vertices);
+
+ // Colors for labeling the graph during the BFS.
+ const char kWhite = 0;
+ const char kGrey = 1;
+ const char kBlack = 2;
+
+ // Mark all vertices white.
+ HashMap<Vertex, char> vertex_color;
+ vector<Vertex> vertex_queue;
+ for (typename HashSet<Vertex>::const_iterator it = vertices.begin();
+ it != vertices.end();
+ ++it) {
+ vertex_color[*it] = kWhite;
+ vertex_queue.push_back(*it);
+ }
+
+
+ sort(vertex_queue.begin(), vertex_queue.end(),
+ VertexDegreeLessThan<Vertex>(graph));
+
+ // Iterate over vertex_queue. Pick the first white vertex, add it
+ // to the independent set. Mark it black and its neighbors grey.
+ for (int i = 0; i < vertex_queue.size(); ++i) {
+ const Vertex& vertex = vertex_queue[i];
+ if (vertex_color[vertex] != kWhite) {
+ continue;
+ }
+
+ ordering->push_back(vertex);
+ vertex_color[vertex] = kBlack;
+ const HashSet<Vertex>& neighbors = graph.Neighbors(vertex);
+ for (typename HashSet<Vertex>::const_iterator it = neighbors.begin();
+ it != neighbors.end();
+ ++it) {
+ vertex_color[*it] = kGrey;
+ }
+ }
+
+ int independent_set_size = ordering->size();
+
+ // Iterate over the vertices and add all the grey vertices to the
+ // ordering. At this stage there should only be black or grey
+ // vertices in the graph.
+ for (typename vector<Vertex>::const_iterator it = vertex_queue.begin();
+ it != vertex_queue.end();
+ ++it) {
+ const Vertex vertex = *it;
+ DCHECK(vertex_color[vertex] != kWhite);
+ if (vertex_color[vertex] != kBlack) {
+ ordering->push_back(vertex);
+ }
+ }
+
+ CHECK_EQ(ordering->size(), num_vertices);
+ return independent_set_size;
+}
+
+// Find the connected component for a vertex implemented using the
+// find and update operation for disjoint-set. Recursively traverse
+// the disjoint set structure till you reach a vertex whose connected
+// component has the same id as the vertex itself. Along the way
+// update the connected components of all the vertices. This updating
+// is what gives this data structure its efficiency.
+template <typename Vertex>
+Vertex FindConnectedComponent(const Vertex& vertex,
+ HashMap<Vertex, Vertex>* union_find) {
+ typename HashMap<Vertex, Vertex>::iterator it = union_find->find(vertex);
+ DCHECK(it != union_find->end());
+ if (it->second != vertex) {
+ it->second = FindConnectedComponent(it->second, union_find);
+ }
+
+ return it->second;
+}
+
+// Compute a degree two constrained Maximum Spanning Tree/forest of
+// the input graph. Caller owns the result.
+//
+// Finding degree 2 spanning tree of a graph is not always
+// possible. For example a star graph, i.e. a graph with n-nodes
+// where one node is connected to the other n-1 nodes does not have
+// a any spanning trees of degree less than n-1.Even if such a tree
+// exists, finding such a tree is NP-Hard.
+
+// We get around both of these problems by using a greedy, degree
+// constrained variant of Kruskal's algorithm. We start with a graph
+// G_T with the same vertex set V as the input graph G(V,E) but an
+// empty edge set. We then iterate over the edges of G in decreasing
+// order of weight, adding them to G_T if doing so does not create a
+// cycle in G_T} and the degree of all the vertices in G_T remains
+// bounded by two. This O(|E|) algorithm results in a degree-2
+// spanning forest, or a collection of linear paths that span the
+// graph G.
+template <typename Vertex>
+Graph<Vertex>*
+Degree2MaximumSpanningForest(const Graph<Vertex>& graph) {
+ // Array of edges sorted in decreasing order of their weights.
+ vector<pair<double, pair<Vertex, Vertex> > > weighted_edges;
+ Graph<Vertex>* forest = new Graph<Vertex>();
+
+ // Disjoint-set to keep track of the connected components in the
+ // maximum spanning tree.
+ HashMap<Vertex, Vertex> disjoint_set;
+
+ // Sort of the edges in the graph in decreasing order of their
+ // weight. Also add the vertices of the graph to the Maximum
+ // Spanning Tree graph and set each vertex to be its own connected
+ // component in the disjoint_set structure.
+ const HashSet<Vertex>& vertices = graph.vertices();
+ for (typename HashSet<Vertex>::const_iterator it = vertices.begin();
+ it != vertices.end();
+ ++it) {
+ const Vertex vertex1 = *it;
+ forest->AddVertex(vertex1, graph.VertexWeight(vertex1));
+ disjoint_set[vertex1] = vertex1;
+
+ const HashSet<Vertex>& neighbors = graph.Neighbors(vertex1);
+ for (typename HashSet<Vertex>::const_iterator it2 = neighbors.begin();
+ it2 != neighbors.end();
+ ++it2) {
+ const Vertex vertex2 = *it2;
+ if (vertex1 >= vertex2) {
+ continue;
+ }
+ const double weight = graph.EdgeWeight(vertex1, vertex2);
+ weighted_edges.push_back(make_pair(weight, make_pair(vertex1, vertex2)));
+ }
+ }
+
+ // The elements of this vector, are pairs<edge_weight,
+ // edge>. Sorting it using the reverse iterators gives us the edges
+ // in decreasing order of edges.
+ sort(weighted_edges.rbegin(), weighted_edges.rend());
+
+ // Greedily add edges to the spanning tree/forest as long as they do
+ // not violate the degree/cycle constraint.
+ for (int i =0; i < weighted_edges.size(); ++i) {
+ const pair<Vertex, Vertex>& edge = weighted_edges[i].second;
+ const Vertex vertex1 = edge.first;
+ const Vertex vertex2 = edge.second;
+
+ // Check if either of the vertices are of degree 2 already, in
+ // which case adding this edge will violate the degree 2
+ // constraint.
+ if ((forest->Neighbors(vertex1).size() == 2) ||
+ (forest->Neighbors(vertex2).size() == 2)) {
+ continue;
+ }
+
+ // Find the id of the connected component to which the two
+ // vertices belong to. If the id is the same, it means that the
+ // two of them are already connected to each other via some other
+ // vertex, and adding this edge will create a cycle.
+ Vertex root1 = FindConnectedComponent(vertex1, &disjoint_set);
+ Vertex root2 = FindConnectedComponent(vertex2, &disjoint_set);
+
+ if (root1 == root2) {
+ continue;
+ }
+
+ // This edge can be added, add an edge in either direction with
+ // the same weight as the original graph.
+ const double edge_weight = graph.EdgeWeight(vertex1, vertex2);
+ forest->AddEdge(vertex1, vertex2, edge_weight);
+ forest->AddEdge(vertex2, vertex1, edge_weight);
+
+ // Connected the two connected components by updating the
+ // disjoint_set structure. Always connect the connected component
+ // with the greater index with the connected component with the
+ // smaller index. This should ensure shallower trees, for quicker
+ // lookup.
+ if (root2 < root1) {
+ std::swap(root1, root2);
+ };
+
+ disjoint_set[root2] = root1;
+ }
+ return forest;
+}
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_GRAPH_ALGORITHMS_H_
diff --git a/internal/ceres/graph_algorithms_test.cc b/internal/ceres/graph_algorithms_test.cc
new file mode 100644
index 0000000..d5d4843
--- /dev/null
+++ b/internal/ceres/graph_algorithms_test.cc
@@ -0,0 +1,200 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/graph_algorithms.h"
+
+#include <algorithm>
+#include "gtest/gtest.h"
+#include "ceres/collections_port.h"
+#include "ceres/graph.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(IndependentSetOrdering, Chain) {
+ Graph<int> graph;
+ graph.AddVertex(0);
+ graph.AddVertex(1);
+ graph.AddVertex(2);
+ graph.AddVertex(3);
+ graph.AddVertex(4);
+
+ graph.AddEdge(0, 1);
+ graph.AddEdge(1, 2);
+ graph.AddEdge(2, 3);
+ graph.AddEdge(3, 4);
+
+ // 0-1-2-3-4
+ // 0, 2, 4 should be in the independent set.
+ vector<int> ordering;
+ int independent_set_size = IndependentSetOrdering(graph, &ordering);
+
+ sort(ordering.begin(), ordering.begin() + 3);
+ sort(ordering.begin() + 3, ordering.end());
+
+ EXPECT_EQ(independent_set_size, 3);
+ EXPECT_EQ(ordering.size(), 5);
+ EXPECT_EQ(ordering[0], 0);
+ EXPECT_EQ(ordering[1], 2);
+ EXPECT_EQ(ordering[2], 4);
+ EXPECT_EQ(ordering[3], 1);
+ EXPECT_EQ(ordering[4], 3);
+}
+
+TEST(IndependentSetOrdering, Star) {
+ Graph<int> graph;
+ graph.AddVertex(0);
+ graph.AddVertex(1);
+ graph.AddVertex(2);
+ graph.AddVertex(3);
+ graph.AddVertex(4);
+
+ graph.AddEdge(0, 1);
+ graph.AddEdge(0, 2);
+ graph.AddEdge(0, 3);
+ graph.AddEdge(0, 4);
+
+ // 1
+ // |
+ // 4-0-2
+ // |
+ // 3
+ // 1, 2, 3, 4 should be in the indepdendent set.
+ vector<int> ordering;
+ int independent_set_size = IndependentSetOrdering(graph, &ordering);
+ EXPECT_EQ(independent_set_size, 4);
+ EXPECT_EQ(ordering.size(), 5);
+ EXPECT_EQ(ordering[4], 0);
+ sort(ordering.begin(), ordering.begin() + 4);
+ EXPECT_EQ(ordering[0], 1);
+ EXPECT_EQ(ordering[1], 2);
+ EXPECT_EQ(ordering[2], 3);
+ EXPECT_EQ(ordering[3], 4);
+}
+
+TEST(Degree2MaximumSpanningForest, PreserveWeights) {
+ Graph<int> graph;
+ graph.AddVertex(0, 1.0);
+ graph.AddVertex(1, 2.0);
+ graph.AddEdge(0, 1, 0.5);
+ graph.AddEdge(1, 0, 0.5);
+
+ scoped_ptr<Graph<int> > forest(Degree2MaximumSpanningForest(graph));
+
+ const HashSet<int>& vertices = forest->vertices();
+ EXPECT_EQ(vertices.size(), 2);
+ EXPECT_EQ(forest->VertexWeight(0), 1.0);
+ EXPECT_EQ(forest->VertexWeight(1), 2.0);
+ EXPECT_EQ(forest->Neighbors(0).size(), 1.0);
+ EXPECT_EQ(forest->EdgeWeight(0, 1), 0.5);
+}
+
+TEST(Degree2MaximumSpanningForest, StarGraph) {
+ Graph<int> graph;
+ graph.AddVertex(0);
+ graph.AddVertex(1);
+ graph.AddVertex(2);
+ graph.AddVertex(3);
+ graph.AddVertex(4);
+
+ graph.AddEdge(0, 1, 1.0);
+ graph.AddEdge(0, 2, 2.0);
+ graph.AddEdge(0, 3, 3.0);
+ graph.AddEdge(0, 4, 4.0);
+
+ scoped_ptr<Graph<int> > forest(Degree2MaximumSpanningForest(graph));
+ const HashSet<int>& vertices = forest->vertices();
+ EXPECT_EQ(vertices.size(), 5);
+
+ {
+ const HashSet<int>& neighbors = forest->Neighbors(0);
+ EXPECT_EQ(neighbors.size(), 2);
+ EXPECT_TRUE(neighbors.find(4) != neighbors.end());
+ EXPECT_TRUE(neighbors.find(3) != neighbors.end());
+ }
+
+ {
+ const HashSet<int>& neighbors = forest->Neighbors(3);
+ EXPECT_EQ(neighbors.size(), 1);
+ EXPECT_TRUE(neighbors.find(0) != neighbors.end());
+ }
+
+ {
+ const HashSet<int>& neighbors = forest->Neighbors(4);
+ EXPECT_EQ(neighbors.size(), 1);
+ EXPECT_TRUE(neighbors.find(0) != neighbors.end());
+ }
+
+ {
+ const HashSet<int>& neighbors = forest->Neighbors(1);
+ EXPECT_EQ(neighbors.size(), 0);
+ }
+
+ {
+ const HashSet<int>& neighbors = forest->Neighbors(2);
+ EXPECT_EQ(neighbors.size(), 0);
+ }
+}
+
+TEST(VertexDegreeLessThan, TotalOrdering) {
+ Graph<int> graph;
+ graph.AddVertex(0);
+ graph.AddVertex(1);
+ graph.AddVertex(2);
+ graph.AddVertex(3);
+
+ // 0-1
+ // |
+ // 2-3
+ // 0,1 and 2 have degree 1 and 3 has degree 2.
+ graph.AddEdge(0, 1, 1.0);
+ graph.AddEdge(2, 3, 1.0);
+ VertexDegreeLessThan<int> less_than(graph);
+
+ for (int i = 0; i < 4; ++i) {
+ EXPECT_FALSE(less_than(i,i)) << "Failing vertex: " << i;
+ for (int j = 0; j < 4; ++j) {
+ if (i != j) {
+ EXPECT_TRUE(less_than(i, j) ^ less_than(j, i))
+ << "Failing vertex pair: " << i << " " << j;
+ }
+ }
+ }
+
+ for (int i = 0; i < 3; ++i) {
+ EXPECT_TRUE(less_than(i, 3));
+ EXPECT_FALSE(less_than(3, i));
+ }
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/graph_test.cc b/internal/ceres/graph_test.cc
new file mode 100644
index 0000000..85b80bf
--- /dev/null
+++ b/internal/ceres/graph_test.cc
@@ -0,0 +1,107 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/graph.h"
+
+#include "gtest/gtest.h"
+#include "ceres/collections_port.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(Graph, EmptyGraph) {
+ Graph<int> graph;
+ EXPECT_EQ(graph.vertices().size(), 0);
+}
+
+TEST(Graph, AddVertexAndEdge) {
+ Graph<int> graph;
+ graph.AddVertex(0, 1.0);
+ graph.AddVertex(1, 2.0);
+ graph.AddEdge(0, 1, 0.5);
+
+ const HashSet<int>& vertices = graph.vertices();
+ EXPECT_EQ(vertices.size(), 2);
+ EXPECT_EQ(graph.VertexWeight(0), 1.0);
+ EXPECT_EQ(graph.VertexWeight(1), 2.0);
+ EXPECT_EQ(graph.Neighbors(0).size(), 1);
+ EXPECT_EQ(graph.Neighbors(1).size(), 1);
+ EXPECT_EQ(graph.EdgeWeight(0, 1), 0.5);
+ EXPECT_EQ(graph.EdgeWeight(1, 0), 0.5);
+}
+
+TEST(Graph, AddVertexIdempotence) {
+ Graph<int> graph;
+ graph.AddVertex(0, 1.0);
+ graph.AddVertex(1, 2.0);
+ graph.AddEdge(0, 1, 0.5);
+
+ const HashSet<int>& vertices = graph.vertices();
+
+ EXPECT_EQ(vertices.size(), 2);
+
+ // Try adding the vertex again with a new weight.
+ graph.AddVertex(0, 3.0);
+ EXPECT_EQ(vertices.size(), 2);
+
+ // The vertex weight is reset.
+ EXPECT_EQ(graph.VertexWeight(0), 3.0);
+
+ // Rest of the graph remains the same.
+ EXPECT_EQ(graph.VertexWeight(1), 2.0);
+ EXPECT_EQ(graph.Neighbors(0).size(), 1);
+ EXPECT_EQ(graph.Neighbors(1).size(), 1);
+ EXPECT_EQ(graph.EdgeWeight(0, 1), 0.5);
+ EXPECT_EQ(graph.EdgeWeight(1, 0), 0.5);
+}
+
+TEST(Graph, DieOnNonExistentVertex) {
+ Graph<int> graph;
+ graph.AddVertex(0, 1.0);
+ graph.AddVertex(1, 2.0);
+ graph.AddEdge(0, 1, 0.5);
+
+ EXPECT_DEATH_IF_SUPPORTED(graph.VertexWeight(2), "key not found");
+ EXPECT_DEATH_IF_SUPPORTED(graph.Neighbors(2), "key not found");
+}
+
+TEST(Graph, NonExistentEdge) {
+ Graph<int> graph;
+ graph.AddVertex(0, 1.0);
+ graph.AddVertex(1, 2.0);
+ graph.AddEdge(0, 1, 0.5);
+
+ // Default value for non-existent edges is 0.
+ EXPECT_EQ(graph.EdgeWeight(2, 3), 0);
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/gtest/gtest.h b/internal/ceres/gtest/gtest.h
new file mode 100644
index 0000000..3143bd6
--- /dev/null
+++ b/internal/ceres/gtest/gtest.h
@@ -0,0 +1,19537 @@
+// Copyright 2005, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+//
+// The Google C++ Testing Framework (Google Test)
+//
+// This header file defines the public API for Google Test. It should be
+// included by any test program that uses Google Test.
+//
+// IMPORTANT NOTE: Due to limitation of the C++ language, we have to
+// leave some internal implementation details in this header file.
+// They are clearly marked by comments like this:
+//
+// // INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+//
+// Such code is NOT meant to be used by a user directly, and is subject
+// to CHANGE WITHOUT NOTICE. Therefore DO NOT DEPEND ON IT in a user
+// program!
+//
+// Acknowledgment: Google Test borrowed the idea of automatic test
+// registration from Barthelemy Dagenais' (barthelemy@prologique.com)
+// easyUnit framework.
+
+#ifndef GTEST_INCLUDE_GTEST_GTEST_H_
+#define GTEST_INCLUDE_GTEST_GTEST_H_
+
+#include <limits>
+#include <vector>
+
+// Copyright 2005, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Authors: wan@google.com (Zhanyong Wan), eefacm@gmail.com (Sean Mcafee)
+//
+// The Google C++ Testing Framework (Google Test)
+//
+// This header file declares functions and macros used internally by
+// Google Test. They are subject to change without notice.
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_INTERNAL_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_INTERNAL_H_
+
+// Copyright 2005, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Authors: wan@google.com (Zhanyong Wan)
+//
+// Low-level types and utilities for porting Google Test to various
+// platforms. They are subject to change without notice. DO NOT USE
+// THEM IN USER CODE.
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PORT_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PORT_H_
+
+// The user can define the following macros in the build script to
+// control Google Test's behavior. If the user doesn't define a macro
+// in this list, Google Test will define it.
+//
+// GTEST_HAS_CLONE - Define it to 1/0 to indicate that clone(2)
+// is/isn't available.
+// GTEST_HAS_EXCEPTIONS - Define it to 1/0 to indicate that exceptions
+// are enabled.
+// GTEST_HAS_GLOBAL_STRING - Define it to 1/0 to indicate that ::string
+// is/isn't available (some systems define
+// ::string, which is different to std::string).
+// GTEST_HAS_GLOBAL_WSTRING - Define it to 1/0 to indicate that ::string
+// is/isn't available (some systems define
+// ::wstring, which is different to std::wstring).
+// GTEST_HAS_POSIX_RE - Define it to 1/0 to indicate that POSIX regular
+// expressions are/aren't available.
+// GTEST_HAS_PTHREAD - Define it to 1/0 to indicate that <pthread.h>
+// is/isn't available.
+// GTEST_HAS_RTTI - Define it to 1/0 to indicate that RTTI is/isn't
+// enabled.
+// GTEST_HAS_STD_WSTRING - Define it to 1/0 to indicate that
+// std::wstring does/doesn't work (Google Test can
+// be used where std::wstring is unavailable).
+// GTEST_HAS_TR1_TUPLE - Define it to 1/0 to indicate tr1::tuple
+// is/isn't available.
+// GTEST_HAS_SEH - Define it to 1/0 to indicate whether the
+// compiler supports Microsoft's "Structured
+// Exception Handling".
+// GTEST_HAS_STREAM_REDIRECTION
+// - Define it to 1/0 to indicate whether the
+// platform supports I/O stream redirection using
+// dup() and dup2().
+// GTEST_USE_OWN_TR1_TUPLE - Define it to 1/0 to indicate whether Google
+// Test's own tr1 tuple implementation should be
+// used. Unused when the user sets
+// GTEST_HAS_TR1_TUPLE to 0.
+// GTEST_LINKED_AS_SHARED_LIBRARY
+// - Define to 1 when compiling tests that use
+// Google Test as a shared library (known as
+// DLL on Windows).
+// GTEST_CREATE_SHARED_LIBRARY
+// - Define to 1 when compiling Google Test itself
+// as a shared library.
+
+// This header defines the following utilities:
+//
+// Macros indicating the current platform (defined to 1 if compiled on
+// the given platform; otherwise undefined):
+// GTEST_OS_AIX - IBM AIX
+// GTEST_OS_CYGWIN - Cygwin
+// GTEST_OS_HPUX - HP-UX
+// GTEST_OS_LINUX - Linux
+// GTEST_OS_LINUX_ANDROID - Google Android
+// GTEST_OS_MAC - Mac OS X
+// GTEST_OS_NACL - Google Native Client (NaCl)
+// GTEST_OS_SOLARIS - Sun Solaris
+// GTEST_OS_SYMBIAN - Symbian
+// GTEST_OS_WINDOWS - Windows (Desktop, MinGW, or Mobile)
+// GTEST_OS_WINDOWS_DESKTOP - Windows Desktop
+// GTEST_OS_WINDOWS_MINGW - MinGW
+// GTEST_OS_WINDOWS_MOBILE - Windows Mobile
+// GTEST_OS_ZOS - z/OS
+//
+// Among the platforms, Cygwin, Linux, Max OS X, and Windows have the
+// most stable support. Since core members of the Google Test project
+// don't have access to other platforms, support for them may be less
+// stable. If you notice any problems on your platform, please notify
+// googletestframework@googlegroups.com (patches for fixing them are
+// even more welcome!).
+//
+// Note that it is possible that none of the GTEST_OS_* macros are defined.
+//
+// Macros indicating available Google Test features (defined to 1 if
+// the corresponding feature is supported; otherwise undefined):
+// GTEST_HAS_COMBINE - the Combine() function (for value-parameterized
+// tests)
+// GTEST_HAS_DEATH_TEST - death tests
+// GTEST_HAS_PARAM_TEST - value-parameterized tests
+// GTEST_HAS_TYPED_TEST - typed tests
+// GTEST_HAS_TYPED_TEST_P - type-parameterized tests
+// GTEST_USES_POSIX_RE - enhanced POSIX regex is used. Do not confuse with
+// GTEST_HAS_POSIX_RE (see above) which users can
+// define themselves.
+// GTEST_USES_SIMPLE_RE - our own simple regex is used;
+// the above two are mutually exclusive.
+// GTEST_CAN_COMPARE_NULL - accepts untyped NULL in EXPECT_EQ().
+//
+// Macros for basic C++ coding:
+// GTEST_AMBIGUOUS_ELSE_BLOCKER_ - for disabling a gcc warning.
+// GTEST_ATTRIBUTE_UNUSED_ - declares that a class' instances or a
+// variable don't have to be used.
+// GTEST_DISALLOW_ASSIGN_ - disables operator=.
+// GTEST_DISALLOW_COPY_AND_ASSIGN_ - disables copy ctor and operator=.
+// GTEST_MUST_USE_RESULT_ - declares that a function's result must be used.
+//
+// Synchronization:
+// Mutex, MutexLock, ThreadLocal, GetThreadCount()
+// - synchronization primitives.
+// GTEST_IS_THREADSAFE - defined to 1 to indicate that the above
+// synchronization primitives have real implementations
+// and Google Test is thread-safe; or 0 otherwise.
+//
+// Template meta programming:
+// is_pointer - as in TR1; needed on Symbian and IBM XL C/C++ only.
+// IteratorTraits - partial implementation of std::iterator_traits, which
+// is not available in libCstd when compiled with Sun C++.
+//
+// Smart pointers:
+// scoped_ptr - as in TR2.
+//
+// Regular expressions:
+// RE - a simple regular expression class using the POSIX
+// Extended Regular Expression syntax on UNIX-like
+// platforms, or a reduced regular exception syntax on
+// other platforms, including Windows.
+//
+// Logging:
+// GTEST_LOG_() - logs messages at the specified severity level.
+// LogToStderr() - directs all log messages to stderr.
+// FlushInfoLog() - flushes informational log messages.
+//
+// Stdout and stderr capturing:
+// CaptureStdout() - starts capturing stdout.
+// GetCapturedStdout() - stops capturing stdout and returns the captured
+// string.
+// CaptureStderr() - starts capturing stderr.
+// GetCapturedStderr() - stops capturing stderr and returns the captured
+// string.
+//
+// Integer types:
+// TypeWithSize - maps an integer to a int type.
+// Int32, UInt32, Int64, UInt64, TimeInMillis
+// - integers of known sizes.
+// BiggestInt - the biggest signed integer type.
+//
+// Command-line utilities:
+// GTEST_FLAG() - references a flag.
+// GTEST_DECLARE_*() - declares a flag.
+// GTEST_DEFINE_*() - defines a flag.
+// GetArgvs() - returns the command line as a vector of strings.
+//
+// Environment variable utilities:
+// GetEnv() - gets the value of an environment variable.
+// BoolFromGTestEnv() - parses a bool environment variable.
+// Int32FromGTestEnv() - parses an Int32 environment variable.
+// StringFromGTestEnv() - parses a string environment variable.
+
+#include <ctype.h> // for isspace, etc
+#include <stddef.h> // for ptrdiff_t
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#ifndef _WIN32_WCE
+# include <sys/types.h>
+# include <sys/stat.h>
+#endif // !_WIN32_WCE
+
+#include <iostream> // NOLINT
+#include <sstream> // NOLINT
+#include <string> // NOLINT
+
+#define GTEST_DEV_EMAIL_ "googletestframework@@googlegroups.com"
+#define GTEST_FLAG_PREFIX_ "gtest_"
+#define GTEST_FLAG_PREFIX_DASH_ "gtest-"
+#define GTEST_FLAG_PREFIX_UPPER_ "GTEST_"
+#define GTEST_NAME_ "Google Test"
+#define GTEST_PROJECT_URL_ "http://code.google.com/p/googletest/"
+
+// Determines the version of gcc that is used to compile this.
+#ifdef __GNUC__
+// 40302 means version 4.3.2.
+# define GTEST_GCC_VER_ \
+ (__GNUC__*10000 + __GNUC_MINOR__*100 + __GNUC_PATCHLEVEL__)
+#endif // __GNUC__
+
+// Determines the platform on which Google Test is compiled.
+#ifdef __CYGWIN__
+# define GTEST_OS_CYGWIN 1
+#elif defined __SYMBIAN32__
+# define GTEST_OS_SYMBIAN 1
+#elif defined _WIN32
+# define GTEST_OS_WINDOWS 1
+# ifdef _WIN32_WCE
+# define GTEST_OS_WINDOWS_MOBILE 1
+# elif defined(__MINGW__) || defined(__MINGW32__)
+# define GTEST_OS_WINDOWS_MINGW 1
+# else
+# define GTEST_OS_WINDOWS_DESKTOP 1
+# endif // _WIN32_WCE
+#elif defined __APPLE__
+# define GTEST_OS_MAC 1
+#elif defined __linux__
+# define GTEST_OS_LINUX 1
+# ifdef ANDROID
+# define GTEST_OS_LINUX_ANDROID 1
+# endif // ANDROID
+#elif defined __MVS__
+# define GTEST_OS_ZOS 1
+#elif defined(__sun) && defined(__SVR4)
+# define GTEST_OS_SOLARIS 1
+#elif defined(_AIX)
+# define GTEST_OS_AIX 1
+#elif defined(__hpux)
+# define GTEST_OS_HPUX 1
+#elif defined __native_client__
+# define GTEST_OS_NACL 1
+#endif // __CYGWIN__
+
+// Brings in definitions for functions used in the testing::internal::posix
+// namespace (read, write, close, chdir, isatty, stat). We do not currently
+// use them on Windows Mobile.
+#if !GTEST_OS_WINDOWS
+// This assumes that non-Windows OSes provide unistd.h. For OSes where this
+// is not the case, we need to include headers that provide the functions
+// mentioned above.
+# include <unistd.h>
+# if !GTEST_OS_NACL
+// TODO(vladl@google.com): Remove this condition when Native Client SDK adds
+// strings.h (tracked in
+// http://code.google.com/p/nativeclient/issues/detail?id=1175).
+# include <strings.h> // Native Client doesn't provide strings.h.
+# endif
+#elif !GTEST_OS_WINDOWS_MOBILE
+# include <direct.h>
+# include <io.h>
+#endif
+
+// Defines this to true iff Google Test can use POSIX regular expressions.
+#ifndef GTEST_HAS_POSIX_RE
+# define GTEST_HAS_POSIX_RE (!GTEST_OS_WINDOWS)
+#endif
+
+#if GTEST_HAS_POSIX_RE
+
+// On some platforms, <regex.h> needs someone to define size_t, and
+// won't compile otherwise. We can #include it here as we already
+// included <stdlib.h>, which is guaranteed to define size_t through
+// <stddef.h>.
+# include <regex.h> // NOLINT
+
+# define GTEST_USES_POSIX_RE 1
+
+#elif GTEST_OS_WINDOWS
+
+// <regex.h> is not available on Windows. Use our own simple regex
+// implementation instead.
+# define GTEST_USES_SIMPLE_RE 1
+
+#else
+
+// <regex.h> may not be available on this platform. Use our own
+// simple regex implementation instead.
+# define GTEST_USES_SIMPLE_RE 1
+
+#endif // GTEST_HAS_POSIX_RE
+
+#ifndef GTEST_HAS_EXCEPTIONS
+// The user didn't tell us whether exceptions are enabled, so we need
+// to figure it out.
+# if defined(_MSC_VER) || defined(__BORLANDC__)
+// MSVC's and C++Builder's implementations of the STL use the _HAS_EXCEPTIONS
+// macro to enable exceptions, so we'll do the same.
+// Assumes that exceptions are enabled by default.
+# ifndef _HAS_EXCEPTIONS
+# define _HAS_EXCEPTIONS 1
+# endif // _HAS_EXCEPTIONS
+# define GTEST_HAS_EXCEPTIONS _HAS_EXCEPTIONS
+# elif defined(__GNUC__) && __EXCEPTIONS
+// gcc defines __EXCEPTIONS to 1 iff exceptions are enabled.
+# define GTEST_HAS_EXCEPTIONS 1
+# elif defined(__SUNPRO_CC)
+// Sun Pro CC supports exceptions. However, there is no compile-time way of
+// detecting whether they are enabled or not. Therefore, we assume that
+// they are enabled unless the user tells us otherwise.
+# define GTEST_HAS_EXCEPTIONS 1
+# elif defined(__IBMCPP__) && __EXCEPTIONS
+// xlC defines __EXCEPTIONS to 1 iff exceptions are enabled.
+# define GTEST_HAS_EXCEPTIONS 1
+# elif defined(__HP_aCC)
+// Exception handling is in effect by default in HP aCC compiler. It has to
+// be turned of by +noeh compiler option if desired.
+# define GTEST_HAS_EXCEPTIONS 1
+# else
+// For other compilers, we assume exceptions are disabled to be
+// conservative.
+# define GTEST_HAS_EXCEPTIONS 0
+# endif // defined(_MSC_VER) || defined(__BORLANDC__)
+#endif // GTEST_HAS_EXCEPTIONS
+
+#if !defined(GTEST_HAS_STD_STRING)
+// Even though we don't use this macro any longer, we keep it in case
+// some clients still depend on it.
+# define GTEST_HAS_STD_STRING 1
+#elif !GTEST_HAS_STD_STRING
+// The user told us that ::std::string isn't available.
+# error "Google Test cannot be used where ::std::string isn't available."
+#endif // !defined(GTEST_HAS_STD_STRING)
+
+#ifndef GTEST_HAS_GLOBAL_STRING
+// The user didn't tell us whether ::string is available, so we need
+// to figure it out.
+
+# define GTEST_HAS_GLOBAL_STRING 0
+
+#endif // GTEST_HAS_GLOBAL_STRING
+
+#ifndef GTEST_HAS_STD_WSTRING
+// The user didn't tell us whether ::std::wstring is available, so we need
+// to figure it out.
+// TODO(wan@google.com): uses autoconf to detect whether ::std::wstring
+// is available.
+
+// Cygwin 1.7 and below doesn't support ::std::wstring.
+// Solaris' libc++ doesn't support it either. Android has
+// no support for it at least as recent as Froyo (2.2).
+# define GTEST_HAS_STD_WSTRING \
+ (!(GTEST_OS_LINUX_ANDROID || GTEST_OS_CYGWIN || GTEST_OS_SOLARIS))
+
+#endif // GTEST_HAS_STD_WSTRING
+
+#ifndef GTEST_HAS_GLOBAL_WSTRING
+// The user didn't tell us whether ::wstring is available, so we need
+// to figure it out.
+# define GTEST_HAS_GLOBAL_WSTRING \
+ (GTEST_HAS_STD_WSTRING && GTEST_HAS_GLOBAL_STRING)
+#endif // GTEST_HAS_GLOBAL_WSTRING
+
+// Determines whether RTTI is available.
+#ifndef GTEST_HAS_RTTI
+// The user didn't tell us whether RTTI is enabled, so we need to
+// figure it out.
+
+# ifdef _MSC_VER
+
+# ifdef _CPPRTTI // MSVC defines this macro iff RTTI is enabled.
+# define GTEST_HAS_RTTI 1
+# else
+# define GTEST_HAS_RTTI 0
+# endif
+
+// Starting with version 4.3.2, gcc defines __GXX_RTTI iff RTTI is enabled.
+# elif defined(__GNUC__) && (GTEST_GCC_VER_ >= 40302)
+
+# ifdef __GXX_RTTI
+# define GTEST_HAS_RTTI 1
+# else
+# define GTEST_HAS_RTTI 0
+# endif // __GXX_RTTI
+
+// Starting with version 9.0 IBM Visual Age defines __RTTI_ALL__ to 1 if
+// both the typeid and dynamic_cast features are present.
+# elif defined(__IBMCPP__) && (__IBMCPP__ >= 900)
+
+# ifdef __RTTI_ALL__
+# define GTEST_HAS_RTTI 1
+# else
+# define GTEST_HAS_RTTI 0
+# endif
+
+# else
+
+// For all other compilers, we assume RTTI is enabled.
+# define GTEST_HAS_RTTI 1
+
+# endif // _MSC_VER
+
+#endif // GTEST_HAS_RTTI
+
+// It's this header's responsibility to #include <typeinfo> when RTTI
+// is enabled.
+#if GTEST_HAS_RTTI
+# include <typeinfo>
+#endif
+
+// Determines whether Google Test can use the pthreads library.
+#ifndef GTEST_HAS_PTHREAD
+// The user didn't tell us explicitly, so we assume pthreads support is
+// available on Linux and Mac.
+//
+// To disable threading support in Google Test, add -DGTEST_HAS_PTHREAD=0
+// to your compiler flags.
+# define GTEST_HAS_PTHREAD (GTEST_OS_LINUX || GTEST_OS_MAC || GTEST_OS_HPUX)
+#endif // GTEST_HAS_PTHREAD
+
+#if GTEST_HAS_PTHREAD
+// gtest-port.h guarantees to #include <pthread.h> when GTEST_HAS_PTHREAD is
+// true.
+# include <pthread.h> // NOLINT
+
+// For timespec and nanosleep, used below.
+# include <time.h> // NOLINT
+#endif
+
+// Determines whether Google Test can use tr1/tuple. You can define
+// this macro to 0 to prevent Google Test from using tuple (any
+// feature depending on tuple with be disabled in this mode).
+#ifndef GTEST_HAS_TR1_TUPLE
+// The user didn't tell us not to do it, so we assume it's OK.
+# define GTEST_HAS_TR1_TUPLE 1
+#endif // GTEST_HAS_TR1_TUPLE
+
+// Determines whether Google Test's own tr1 tuple implementation
+// should be used.
+#ifndef GTEST_USE_OWN_TR1_TUPLE
+// The user didn't tell us, so we need to figure it out.
+
+// We use our own TR1 tuple if we aren't sure the user has an
+// implementation of it already. At this time, GCC 4.0.0+ and MSVC
+// 2010 are the only mainstream compilers that come with a TR1 tuple
+// implementation. NVIDIA's CUDA NVCC compiler pretends to be GCC by
+// defining __GNUC__ and friends, but cannot compile GCC's tuple
+// implementation. MSVC 2008 (9.0) provides TR1 tuple in a 323 MB
+// Feature Pack download, which we cannot assume the user has.
+# if (defined(__GNUC__) && !defined(__CUDACC__) && (GTEST_GCC_VER_ >= 40000)) \
+ || _MSC_VER >= 1600
+# define GTEST_USE_OWN_TR1_TUPLE 0
+# else
+# define GTEST_USE_OWN_TR1_TUPLE 1
+# endif
+
+#endif // GTEST_USE_OWN_TR1_TUPLE
+
+// To avoid conditional compilation everywhere, we make it
+// gtest-port.h's responsibility to #include the header implementing
+// tr1/tuple.
+#if GTEST_HAS_TR1_TUPLE
+
+# if GTEST_USE_OWN_TR1_TUPLE
+// This file was GENERATED by a script. DO NOT EDIT BY HAND!!!
+
+// Copyright 2009 Google Inc.
+// All Rights Reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Implements a subset of TR1 tuple needed by Google Test and Google Mock.
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_TUPLE_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_TUPLE_H_
+
+#include <utility> // For ::std::pair.
+
+// The compiler used in Symbian has a bug that prevents us from declaring the
+// tuple template as a friend (it complains that tuple is redefined). This
+// hack bypasses the bug by declaring the members that should otherwise be
+// private as public.
+// Sun Studio versions < 12 also have the above bug.
+#if defined(__SYMBIAN32__) || (defined(__SUNPRO_CC) && __SUNPRO_CC < 0x590)
+# define GTEST_DECLARE_TUPLE_AS_FRIEND_ public:
+#else
+# define GTEST_DECLARE_TUPLE_AS_FRIEND_ \
+ template <GTEST_10_TYPENAMES_(U)> friend class tuple; \
+ private:
+#endif
+
+// GTEST_n_TUPLE_(T) is the type of an n-tuple.
+#define GTEST_0_TUPLE_(T) tuple<>
+#define GTEST_1_TUPLE_(T) tuple<T##0, void, void, void, void, void, void, \
+ void, void, void>
+#define GTEST_2_TUPLE_(T) tuple<T##0, T##1, void, void, void, void, void, \
+ void, void, void>
+#define GTEST_3_TUPLE_(T) tuple<T##0, T##1, T##2, void, void, void, void, \
+ void, void, void>
+#define GTEST_4_TUPLE_(T) tuple<T##0, T##1, T##2, T##3, void, void, void, \
+ void, void, void>
+#define GTEST_5_TUPLE_(T) tuple<T##0, T##1, T##2, T##3, T##4, void, void, \
+ void, void, void>
+#define GTEST_6_TUPLE_(T) tuple<T##0, T##1, T##2, T##3, T##4, T##5, void, \
+ void, void, void>
+#define GTEST_7_TUPLE_(T) tuple<T##0, T##1, T##2, T##3, T##4, T##5, T##6, \
+ void, void, void>
+#define GTEST_8_TUPLE_(T) tuple<T##0, T##1, T##2, T##3, T##4, T##5, T##6, \
+ T##7, void, void>
+#define GTEST_9_TUPLE_(T) tuple<T##0, T##1, T##2, T##3, T##4, T##5, T##6, \
+ T##7, T##8, void>
+#define GTEST_10_TUPLE_(T) tuple<T##0, T##1, T##2, T##3, T##4, T##5, T##6, \
+ T##7, T##8, T##9>
+
+// GTEST_n_TYPENAMES_(T) declares a list of n typenames.
+#define GTEST_0_TYPENAMES_(T)
+#define GTEST_1_TYPENAMES_(T) typename T##0
+#define GTEST_2_TYPENAMES_(T) typename T##0, typename T##1
+#define GTEST_3_TYPENAMES_(T) typename T##0, typename T##1, typename T##2
+#define GTEST_4_TYPENAMES_(T) typename T##0, typename T##1, typename T##2, \
+ typename T##3
+#define GTEST_5_TYPENAMES_(T) typename T##0, typename T##1, typename T##2, \
+ typename T##3, typename T##4
+#define GTEST_6_TYPENAMES_(T) typename T##0, typename T##1, typename T##2, \
+ typename T##3, typename T##4, typename T##5
+#define GTEST_7_TYPENAMES_(T) typename T##0, typename T##1, typename T##2, \
+ typename T##3, typename T##4, typename T##5, typename T##6
+#define GTEST_8_TYPENAMES_(T) typename T##0, typename T##1, typename T##2, \
+ typename T##3, typename T##4, typename T##5, typename T##6, typename T##7
+#define GTEST_9_TYPENAMES_(T) typename T##0, typename T##1, typename T##2, \
+ typename T##3, typename T##4, typename T##5, typename T##6, \
+ typename T##7, typename T##8
+#define GTEST_10_TYPENAMES_(T) typename T##0, typename T##1, typename T##2, \
+ typename T##3, typename T##4, typename T##5, typename T##6, \
+ typename T##7, typename T##8, typename T##9
+
+// In theory, defining stuff in the ::std namespace is undefined
+// behavior. We can do this as we are playing the role of a standard
+// library vendor.
+namespace std {
+namespace tr1 {
+
+template <typename T0 = void, typename T1 = void, typename T2 = void,
+ typename T3 = void, typename T4 = void, typename T5 = void,
+ typename T6 = void, typename T7 = void, typename T8 = void,
+ typename T9 = void>
+class tuple;
+
+// Anything in namespace gtest_internal is Google Test's INTERNAL
+// IMPLEMENTATION DETAIL and MUST NOT BE USED DIRECTLY in user code.
+namespace gtest_internal {
+
+// ByRef<T>::type is T if T is a reference; otherwise it's const T&.
+template <typename T>
+struct ByRef { typedef const T& type; }; // NOLINT
+template <typename T>
+struct ByRef<T&> { typedef T& type; }; // NOLINT
+
+// A handy wrapper for ByRef.
+#define GTEST_BY_REF_(T) typename ::std::tr1::gtest_internal::ByRef<T>::type
+
+// AddRef<T>::type is T if T is a reference; otherwise it's T&. This
+// is the same as tr1::add_reference<T>::type.
+template <typename T>
+struct AddRef { typedef T& type; }; // NOLINT
+template <typename T>
+struct AddRef<T&> { typedef T& type; }; // NOLINT
+
+// A handy wrapper for AddRef.
+#define GTEST_ADD_REF_(T) typename ::std::tr1::gtest_internal::AddRef<T>::type
+
+// A helper for implementing get<k>().
+template <int k> class Get;
+
+// A helper for implementing tuple_element<k, T>. kIndexValid is true
+// iff k < the number of fields in tuple type T.
+template <bool kIndexValid, int kIndex, class Tuple>
+struct TupleElement;
+
+template <GTEST_10_TYPENAMES_(T)>
+struct TupleElement<true, 0, GTEST_10_TUPLE_(T)> { typedef T0 type; };
+
+template <GTEST_10_TYPENAMES_(T)>
+struct TupleElement<true, 1, GTEST_10_TUPLE_(T)> { typedef T1 type; };
+
+template <GTEST_10_TYPENAMES_(T)>
+struct TupleElement<true, 2, GTEST_10_TUPLE_(T)> { typedef T2 type; };
+
+template <GTEST_10_TYPENAMES_(T)>
+struct TupleElement<true, 3, GTEST_10_TUPLE_(T)> { typedef T3 type; };
+
+template <GTEST_10_TYPENAMES_(T)>
+struct TupleElement<true, 4, GTEST_10_TUPLE_(T)> { typedef T4 type; };
+
+template <GTEST_10_TYPENAMES_(T)>
+struct TupleElement<true, 5, GTEST_10_TUPLE_(T)> { typedef T5 type; };
+
+template <GTEST_10_TYPENAMES_(T)>
+struct TupleElement<true, 6, GTEST_10_TUPLE_(T)> { typedef T6 type; };
+
+template <GTEST_10_TYPENAMES_(T)>
+struct TupleElement<true, 7, GTEST_10_TUPLE_(T)> { typedef T7 type; };
+
+template <GTEST_10_TYPENAMES_(T)>
+struct TupleElement<true, 8, GTEST_10_TUPLE_(T)> { typedef T8 type; };
+
+template <GTEST_10_TYPENAMES_(T)>
+struct TupleElement<true, 9, GTEST_10_TUPLE_(T)> { typedef T9 type; };
+
+} // namespace gtest_internal
+
+template <>
+class tuple<> {
+ public:
+ tuple() {}
+ tuple(const tuple& /* t */) {}
+ tuple& operator=(const tuple& /* t */) { return *this; }
+};
+
+template <GTEST_1_TYPENAMES_(T)>
+class GTEST_1_TUPLE_(T) {
+ public:
+ template <int k> friend class gtest_internal::Get;
+
+ tuple() : f0_() {}
+
+ explicit tuple(GTEST_BY_REF_(T0) f0) : f0_(f0) {}
+
+ tuple(const tuple& t) : f0_(t.f0_) {}
+
+ template <GTEST_1_TYPENAMES_(U)>
+ tuple(const GTEST_1_TUPLE_(U)& t) : f0_(t.f0_) {}
+
+ tuple& operator=(const tuple& t) { return CopyFrom(t); }
+
+ template <GTEST_1_TYPENAMES_(U)>
+ tuple& operator=(const GTEST_1_TUPLE_(U)& t) {
+ return CopyFrom(t);
+ }
+
+ GTEST_DECLARE_TUPLE_AS_FRIEND_
+
+ template <GTEST_1_TYPENAMES_(U)>
+ tuple& CopyFrom(const GTEST_1_TUPLE_(U)& t) {
+ f0_ = t.f0_;
+ return *this;
+ }
+
+ T0 f0_;
+};
+
+template <GTEST_2_TYPENAMES_(T)>
+class GTEST_2_TUPLE_(T) {
+ public:
+ template <int k> friend class gtest_internal::Get;
+
+ tuple() : f0_(), f1_() {}
+
+ explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1) : f0_(f0),
+ f1_(f1) {}
+
+ tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_) {}
+
+ template <GTEST_2_TYPENAMES_(U)>
+ tuple(const GTEST_2_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_) {}
+ template <typename U0, typename U1>
+ tuple(const ::std::pair<U0, U1>& p) : f0_(p.first), f1_(p.second) {}
+
+ tuple& operator=(const tuple& t) { return CopyFrom(t); }
+
+ template <GTEST_2_TYPENAMES_(U)>
+ tuple& operator=(const GTEST_2_TUPLE_(U)& t) {
+ return CopyFrom(t);
+ }
+ template <typename U0, typename U1>
+ tuple& operator=(const ::std::pair<U0, U1>& p) {
+ f0_ = p.first;
+ f1_ = p.second;
+ return *this;
+ }
+
+ GTEST_DECLARE_TUPLE_AS_FRIEND_
+
+ template <GTEST_2_TYPENAMES_(U)>
+ tuple& CopyFrom(const GTEST_2_TUPLE_(U)& t) {
+ f0_ = t.f0_;
+ f1_ = t.f1_;
+ return *this;
+ }
+
+ T0 f0_;
+ T1 f1_;
+};
+
+template <GTEST_3_TYPENAMES_(T)>
+class GTEST_3_TUPLE_(T) {
+ public:
+ template <int k> friend class gtest_internal::Get;
+
+ tuple() : f0_(), f1_(), f2_() {}
+
+ explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1,
+ GTEST_BY_REF_(T2) f2) : f0_(f0), f1_(f1), f2_(f2) {}
+
+ tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_) {}
+
+ template <GTEST_3_TYPENAMES_(U)>
+ tuple(const GTEST_3_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_) {}
+
+ tuple& operator=(const tuple& t) { return CopyFrom(t); }
+
+ template <GTEST_3_TYPENAMES_(U)>
+ tuple& operator=(const GTEST_3_TUPLE_(U)& t) {
+ return CopyFrom(t);
+ }
+
+ GTEST_DECLARE_TUPLE_AS_FRIEND_
+
+ template <GTEST_3_TYPENAMES_(U)>
+ tuple& CopyFrom(const GTEST_3_TUPLE_(U)& t) {
+ f0_ = t.f0_;
+ f1_ = t.f1_;
+ f2_ = t.f2_;
+ return *this;
+ }
+
+ T0 f0_;
+ T1 f1_;
+ T2 f2_;
+};
+
+template <GTEST_4_TYPENAMES_(T)>
+class GTEST_4_TUPLE_(T) {
+ public:
+ template <int k> friend class gtest_internal::Get;
+
+ tuple() : f0_(), f1_(), f2_(), f3_() {}
+
+ explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1,
+ GTEST_BY_REF_(T2) f2, GTEST_BY_REF_(T3) f3) : f0_(f0), f1_(f1), f2_(f2),
+ f3_(f3) {}
+
+ tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_), f3_(t.f3_) {}
+
+ template <GTEST_4_TYPENAMES_(U)>
+ tuple(const GTEST_4_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_),
+ f3_(t.f3_) {}
+
+ tuple& operator=(const tuple& t) { return CopyFrom(t); }
+
+ template <GTEST_4_TYPENAMES_(U)>
+ tuple& operator=(const GTEST_4_TUPLE_(U)& t) {
+ return CopyFrom(t);
+ }
+
+ GTEST_DECLARE_TUPLE_AS_FRIEND_
+
+ template <GTEST_4_TYPENAMES_(U)>
+ tuple& CopyFrom(const GTEST_4_TUPLE_(U)& t) {
+ f0_ = t.f0_;
+ f1_ = t.f1_;
+ f2_ = t.f2_;
+ f3_ = t.f3_;
+ return *this;
+ }
+
+ T0 f0_;
+ T1 f1_;
+ T2 f2_;
+ T3 f3_;
+};
+
+template <GTEST_5_TYPENAMES_(T)>
+class GTEST_5_TUPLE_(T) {
+ public:
+ template <int k> friend class gtest_internal::Get;
+
+ tuple() : f0_(), f1_(), f2_(), f3_(), f4_() {}
+
+ explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1,
+ GTEST_BY_REF_(T2) f2, GTEST_BY_REF_(T3) f3,
+ GTEST_BY_REF_(T4) f4) : f0_(f0), f1_(f1), f2_(f2), f3_(f3), f4_(f4) {}
+
+ tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_), f3_(t.f3_),
+ f4_(t.f4_) {}
+
+ template <GTEST_5_TYPENAMES_(U)>
+ tuple(const GTEST_5_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_),
+ f3_(t.f3_), f4_(t.f4_) {}
+
+ tuple& operator=(const tuple& t) { return CopyFrom(t); }
+
+ template <GTEST_5_TYPENAMES_(U)>
+ tuple& operator=(const GTEST_5_TUPLE_(U)& t) {
+ return CopyFrom(t);
+ }
+
+ GTEST_DECLARE_TUPLE_AS_FRIEND_
+
+ template <GTEST_5_TYPENAMES_(U)>
+ tuple& CopyFrom(const GTEST_5_TUPLE_(U)& t) {
+ f0_ = t.f0_;
+ f1_ = t.f1_;
+ f2_ = t.f2_;
+ f3_ = t.f3_;
+ f4_ = t.f4_;
+ return *this;
+ }
+
+ T0 f0_;
+ T1 f1_;
+ T2 f2_;
+ T3 f3_;
+ T4 f4_;
+};
+
+template <GTEST_6_TYPENAMES_(T)>
+class GTEST_6_TUPLE_(T) {
+ public:
+ template <int k> friend class gtest_internal::Get;
+
+ tuple() : f0_(), f1_(), f2_(), f3_(), f4_(), f5_() {}
+
+ explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1,
+ GTEST_BY_REF_(T2) f2, GTEST_BY_REF_(T3) f3, GTEST_BY_REF_(T4) f4,
+ GTEST_BY_REF_(T5) f5) : f0_(f0), f1_(f1), f2_(f2), f3_(f3), f4_(f4),
+ f5_(f5) {}
+
+ tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_), f3_(t.f3_),
+ f4_(t.f4_), f5_(t.f5_) {}
+
+ template <GTEST_6_TYPENAMES_(U)>
+ tuple(const GTEST_6_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_),
+ f3_(t.f3_), f4_(t.f4_), f5_(t.f5_) {}
+
+ tuple& operator=(const tuple& t) { return CopyFrom(t); }
+
+ template <GTEST_6_TYPENAMES_(U)>
+ tuple& operator=(const GTEST_6_TUPLE_(U)& t) {
+ return CopyFrom(t);
+ }
+
+ GTEST_DECLARE_TUPLE_AS_FRIEND_
+
+ template <GTEST_6_TYPENAMES_(U)>
+ tuple& CopyFrom(const GTEST_6_TUPLE_(U)& t) {
+ f0_ = t.f0_;
+ f1_ = t.f1_;
+ f2_ = t.f2_;
+ f3_ = t.f3_;
+ f4_ = t.f4_;
+ f5_ = t.f5_;
+ return *this;
+ }
+
+ T0 f0_;
+ T1 f1_;
+ T2 f2_;
+ T3 f3_;
+ T4 f4_;
+ T5 f5_;
+};
+
+template <GTEST_7_TYPENAMES_(T)>
+class GTEST_7_TUPLE_(T) {
+ public:
+ template <int k> friend class gtest_internal::Get;
+
+ tuple() : f0_(), f1_(), f2_(), f3_(), f4_(), f5_(), f6_() {}
+
+ explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1,
+ GTEST_BY_REF_(T2) f2, GTEST_BY_REF_(T3) f3, GTEST_BY_REF_(T4) f4,
+ GTEST_BY_REF_(T5) f5, GTEST_BY_REF_(T6) f6) : f0_(f0), f1_(f1), f2_(f2),
+ f3_(f3), f4_(f4), f5_(f5), f6_(f6) {}
+
+ tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_), f3_(t.f3_),
+ f4_(t.f4_), f5_(t.f5_), f6_(t.f6_) {}
+
+ template <GTEST_7_TYPENAMES_(U)>
+ tuple(const GTEST_7_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_),
+ f3_(t.f3_), f4_(t.f4_), f5_(t.f5_), f6_(t.f6_) {}
+
+ tuple& operator=(const tuple& t) { return CopyFrom(t); }
+
+ template <GTEST_7_TYPENAMES_(U)>
+ tuple& operator=(const GTEST_7_TUPLE_(U)& t) {
+ return CopyFrom(t);
+ }
+
+ GTEST_DECLARE_TUPLE_AS_FRIEND_
+
+ template <GTEST_7_TYPENAMES_(U)>
+ tuple& CopyFrom(const GTEST_7_TUPLE_(U)& t) {
+ f0_ = t.f0_;
+ f1_ = t.f1_;
+ f2_ = t.f2_;
+ f3_ = t.f3_;
+ f4_ = t.f4_;
+ f5_ = t.f5_;
+ f6_ = t.f6_;
+ return *this;
+ }
+
+ T0 f0_;
+ T1 f1_;
+ T2 f2_;
+ T3 f3_;
+ T4 f4_;
+ T5 f5_;
+ T6 f6_;
+};
+
+template <GTEST_8_TYPENAMES_(T)>
+class GTEST_8_TUPLE_(T) {
+ public:
+ template <int k> friend class gtest_internal::Get;
+
+ tuple() : f0_(), f1_(), f2_(), f3_(), f4_(), f5_(), f6_(), f7_() {}
+
+ explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1,
+ GTEST_BY_REF_(T2) f2, GTEST_BY_REF_(T3) f3, GTEST_BY_REF_(T4) f4,
+ GTEST_BY_REF_(T5) f5, GTEST_BY_REF_(T6) f6,
+ GTEST_BY_REF_(T7) f7) : f0_(f0), f1_(f1), f2_(f2), f3_(f3), f4_(f4),
+ f5_(f5), f6_(f6), f7_(f7) {}
+
+ tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_), f3_(t.f3_),
+ f4_(t.f4_), f5_(t.f5_), f6_(t.f6_), f7_(t.f7_) {}
+
+ template <GTEST_8_TYPENAMES_(U)>
+ tuple(const GTEST_8_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_),
+ f3_(t.f3_), f4_(t.f4_), f5_(t.f5_), f6_(t.f6_), f7_(t.f7_) {}
+
+ tuple& operator=(const tuple& t) { return CopyFrom(t); }
+
+ template <GTEST_8_TYPENAMES_(U)>
+ tuple& operator=(const GTEST_8_TUPLE_(U)& t) {
+ return CopyFrom(t);
+ }
+
+ GTEST_DECLARE_TUPLE_AS_FRIEND_
+
+ template <GTEST_8_TYPENAMES_(U)>
+ tuple& CopyFrom(const GTEST_8_TUPLE_(U)& t) {
+ f0_ = t.f0_;
+ f1_ = t.f1_;
+ f2_ = t.f2_;
+ f3_ = t.f3_;
+ f4_ = t.f4_;
+ f5_ = t.f5_;
+ f6_ = t.f6_;
+ f7_ = t.f7_;
+ return *this;
+ }
+
+ T0 f0_;
+ T1 f1_;
+ T2 f2_;
+ T3 f3_;
+ T4 f4_;
+ T5 f5_;
+ T6 f6_;
+ T7 f7_;
+};
+
+template <GTEST_9_TYPENAMES_(T)>
+class GTEST_9_TUPLE_(T) {
+ public:
+ template <int k> friend class gtest_internal::Get;
+
+ tuple() : f0_(), f1_(), f2_(), f3_(), f4_(), f5_(), f6_(), f7_(), f8_() {}
+
+ explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1,
+ GTEST_BY_REF_(T2) f2, GTEST_BY_REF_(T3) f3, GTEST_BY_REF_(T4) f4,
+ GTEST_BY_REF_(T5) f5, GTEST_BY_REF_(T6) f6, GTEST_BY_REF_(T7) f7,
+ GTEST_BY_REF_(T8) f8) : f0_(f0), f1_(f1), f2_(f2), f3_(f3), f4_(f4),
+ f5_(f5), f6_(f6), f7_(f7), f8_(f8) {}
+
+ tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_), f3_(t.f3_),
+ f4_(t.f4_), f5_(t.f5_), f6_(t.f6_), f7_(t.f7_), f8_(t.f8_) {}
+
+ template <GTEST_9_TYPENAMES_(U)>
+ tuple(const GTEST_9_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_),
+ f3_(t.f3_), f4_(t.f4_), f5_(t.f5_), f6_(t.f6_), f7_(t.f7_), f8_(t.f8_) {}
+
+ tuple& operator=(const tuple& t) { return CopyFrom(t); }
+
+ template <GTEST_9_TYPENAMES_(U)>
+ tuple& operator=(const GTEST_9_TUPLE_(U)& t) {
+ return CopyFrom(t);
+ }
+
+ GTEST_DECLARE_TUPLE_AS_FRIEND_
+
+ template <GTEST_9_TYPENAMES_(U)>
+ tuple& CopyFrom(const GTEST_9_TUPLE_(U)& t) {
+ f0_ = t.f0_;
+ f1_ = t.f1_;
+ f2_ = t.f2_;
+ f3_ = t.f3_;
+ f4_ = t.f4_;
+ f5_ = t.f5_;
+ f6_ = t.f6_;
+ f7_ = t.f7_;
+ f8_ = t.f8_;
+ return *this;
+ }
+
+ T0 f0_;
+ T1 f1_;
+ T2 f2_;
+ T3 f3_;
+ T4 f4_;
+ T5 f5_;
+ T6 f6_;
+ T7 f7_;
+ T8 f8_;
+};
+
+template <GTEST_10_TYPENAMES_(T)>
+class tuple {
+ public:
+ template <int k> friend class gtest_internal::Get;
+
+ tuple() : f0_(), f1_(), f2_(), f3_(), f4_(), f5_(), f6_(), f7_(), f8_(),
+ f9_() {}
+
+ explicit tuple(GTEST_BY_REF_(T0) f0, GTEST_BY_REF_(T1) f1,
+ GTEST_BY_REF_(T2) f2, GTEST_BY_REF_(T3) f3, GTEST_BY_REF_(T4) f4,
+ GTEST_BY_REF_(T5) f5, GTEST_BY_REF_(T6) f6, GTEST_BY_REF_(T7) f7,
+ GTEST_BY_REF_(T8) f8, GTEST_BY_REF_(T9) f9) : f0_(f0), f1_(f1), f2_(f2),
+ f3_(f3), f4_(f4), f5_(f5), f6_(f6), f7_(f7), f8_(f8), f9_(f9) {}
+
+ tuple(const tuple& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_), f3_(t.f3_),
+ f4_(t.f4_), f5_(t.f5_), f6_(t.f6_), f7_(t.f7_), f8_(t.f8_), f9_(t.f9_) {}
+
+ template <GTEST_10_TYPENAMES_(U)>
+ tuple(const GTEST_10_TUPLE_(U)& t) : f0_(t.f0_), f1_(t.f1_), f2_(t.f2_),
+ f3_(t.f3_), f4_(t.f4_), f5_(t.f5_), f6_(t.f6_), f7_(t.f7_), f8_(t.f8_),
+ f9_(t.f9_) {}
+
+ tuple& operator=(const tuple& t) { return CopyFrom(t); }
+
+ template <GTEST_10_TYPENAMES_(U)>
+ tuple& operator=(const GTEST_10_TUPLE_(U)& t) {
+ return CopyFrom(t);
+ }
+
+ GTEST_DECLARE_TUPLE_AS_FRIEND_
+
+ template <GTEST_10_TYPENAMES_(U)>
+ tuple& CopyFrom(const GTEST_10_TUPLE_(U)& t) {
+ f0_ = t.f0_;
+ f1_ = t.f1_;
+ f2_ = t.f2_;
+ f3_ = t.f3_;
+ f4_ = t.f4_;
+ f5_ = t.f5_;
+ f6_ = t.f6_;
+ f7_ = t.f7_;
+ f8_ = t.f8_;
+ f9_ = t.f9_;
+ return *this;
+ }
+
+ T0 f0_;
+ T1 f1_;
+ T2 f2_;
+ T3 f3_;
+ T4 f4_;
+ T5 f5_;
+ T6 f6_;
+ T7 f7_;
+ T8 f8_;
+ T9 f9_;
+};
+
+// 6.1.3.2 Tuple creation functions.
+
+// Known limitations: we don't support passing an
+// std::tr1::reference_wrapper<T> to make_tuple(). And we don't
+// implement tie().
+
+inline tuple<> make_tuple() { return tuple<>(); }
+
+template <GTEST_1_TYPENAMES_(T)>
+inline GTEST_1_TUPLE_(T) make_tuple(const T0& f0) {
+ return GTEST_1_TUPLE_(T)(f0);
+}
+
+template <GTEST_2_TYPENAMES_(T)>
+inline GTEST_2_TUPLE_(T) make_tuple(const T0& f0, const T1& f1) {
+ return GTEST_2_TUPLE_(T)(f0, f1);
+}
+
+template <GTEST_3_TYPENAMES_(T)>
+inline GTEST_3_TUPLE_(T) make_tuple(const T0& f0, const T1& f1, const T2& f2) {
+ return GTEST_3_TUPLE_(T)(f0, f1, f2);
+}
+
+template <GTEST_4_TYPENAMES_(T)>
+inline GTEST_4_TUPLE_(T) make_tuple(const T0& f0, const T1& f1, const T2& f2,
+ const T3& f3) {
+ return GTEST_4_TUPLE_(T)(f0, f1, f2, f3);
+}
+
+template <GTEST_5_TYPENAMES_(T)>
+inline GTEST_5_TUPLE_(T) make_tuple(const T0& f0, const T1& f1, const T2& f2,
+ const T3& f3, const T4& f4) {
+ return GTEST_5_TUPLE_(T)(f0, f1, f2, f3, f4);
+}
+
+template <GTEST_6_TYPENAMES_(T)>
+inline GTEST_6_TUPLE_(T) make_tuple(const T0& f0, const T1& f1, const T2& f2,
+ const T3& f3, const T4& f4, const T5& f5) {
+ return GTEST_6_TUPLE_(T)(f0, f1, f2, f3, f4, f5);
+}
+
+template <GTEST_7_TYPENAMES_(T)>
+inline GTEST_7_TUPLE_(T) make_tuple(const T0& f0, const T1& f1, const T2& f2,
+ const T3& f3, const T4& f4, const T5& f5, const T6& f6) {
+ return GTEST_7_TUPLE_(T)(f0, f1, f2, f3, f4, f5, f6);
+}
+
+template <GTEST_8_TYPENAMES_(T)>
+inline GTEST_8_TUPLE_(T) make_tuple(const T0& f0, const T1& f1, const T2& f2,
+ const T3& f3, const T4& f4, const T5& f5, const T6& f6, const T7& f7) {
+ return GTEST_8_TUPLE_(T)(f0, f1, f2, f3, f4, f5, f6, f7);
+}
+
+template <GTEST_9_TYPENAMES_(T)>
+inline GTEST_9_TUPLE_(T) make_tuple(const T0& f0, const T1& f1, const T2& f2,
+ const T3& f3, const T4& f4, const T5& f5, const T6& f6, const T7& f7,
+ const T8& f8) {
+ return GTEST_9_TUPLE_(T)(f0, f1, f2, f3, f4, f5, f6, f7, f8);
+}
+
+template <GTEST_10_TYPENAMES_(T)>
+inline GTEST_10_TUPLE_(T) make_tuple(const T0& f0, const T1& f1, const T2& f2,
+ const T3& f3, const T4& f4, const T5& f5, const T6& f6, const T7& f7,
+ const T8& f8, const T9& f9) {
+ return GTEST_10_TUPLE_(T)(f0, f1, f2, f3, f4, f5, f6, f7, f8, f9);
+}
+
+// 6.1.3.3 Tuple helper classes.
+
+template <typename Tuple> struct tuple_size;
+
+template <GTEST_0_TYPENAMES_(T)>
+struct tuple_size<GTEST_0_TUPLE_(T)> { static const int value = 0; };
+
+template <GTEST_1_TYPENAMES_(T)>
+struct tuple_size<GTEST_1_TUPLE_(T)> { static const int value = 1; };
+
+template <GTEST_2_TYPENAMES_(T)>
+struct tuple_size<GTEST_2_TUPLE_(T)> { static const int value = 2; };
+
+template <GTEST_3_TYPENAMES_(T)>
+struct tuple_size<GTEST_3_TUPLE_(T)> { static const int value = 3; };
+
+template <GTEST_4_TYPENAMES_(T)>
+struct tuple_size<GTEST_4_TUPLE_(T)> { static const int value = 4; };
+
+template <GTEST_5_TYPENAMES_(T)>
+struct tuple_size<GTEST_5_TUPLE_(T)> { static const int value = 5; };
+
+template <GTEST_6_TYPENAMES_(T)>
+struct tuple_size<GTEST_6_TUPLE_(T)> { static const int value = 6; };
+
+template <GTEST_7_TYPENAMES_(T)>
+struct tuple_size<GTEST_7_TUPLE_(T)> { static const int value = 7; };
+
+template <GTEST_8_TYPENAMES_(T)>
+struct tuple_size<GTEST_8_TUPLE_(T)> { static const int value = 8; };
+
+template <GTEST_9_TYPENAMES_(T)>
+struct tuple_size<GTEST_9_TUPLE_(T)> { static const int value = 9; };
+
+template <GTEST_10_TYPENAMES_(T)>
+struct tuple_size<GTEST_10_TUPLE_(T)> { static const int value = 10; };
+
+template <int k, class Tuple>
+struct tuple_element {
+ typedef typename gtest_internal::TupleElement<
+ k < (tuple_size<Tuple>::value), k, Tuple>::type type;
+};
+
+#define GTEST_TUPLE_ELEMENT_(k, Tuple) typename tuple_element<k, Tuple >::type
+
+// 6.1.3.4 Element access.
+
+namespace gtest_internal {
+
+template <>
+class Get<0> {
+ public:
+ template <class Tuple>
+ static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(0, Tuple))
+ Field(Tuple& t) { return t.f0_; } // NOLINT
+
+ template <class Tuple>
+ static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(0, Tuple))
+ ConstField(const Tuple& t) { return t.f0_; }
+};
+
+template <>
+class Get<1> {
+ public:
+ template <class Tuple>
+ static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(1, Tuple))
+ Field(Tuple& t) { return t.f1_; } // NOLINT
+
+ template <class Tuple>
+ static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(1, Tuple))
+ ConstField(const Tuple& t) { return t.f1_; }
+};
+
+template <>
+class Get<2> {
+ public:
+ template <class Tuple>
+ static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(2, Tuple))
+ Field(Tuple& t) { return t.f2_; } // NOLINT
+
+ template <class Tuple>
+ static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(2, Tuple))
+ ConstField(const Tuple& t) { return t.f2_; }
+};
+
+template <>
+class Get<3> {
+ public:
+ template <class Tuple>
+ static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(3, Tuple))
+ Field(Tuple& t) { return t.f3_; } // NOLINT
+
+ template <class Tuple>
+ static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(3, Tuple))
+ ConstField(const Tuple& t) { return t.f3_; }
+};
+
+template <>
+class Get<4> {
+ public:
+ template <class Tuple>
+ static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(4, Tuple))
+ Field(Tuple& t) { return t.f4_; } // NOLINT
+
+ template <class Tuple>
+ static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(4, Tuple))
+ ConstField(const Tuple& t) { return t.f4_; }
+};
+
+template <>
+class Get<5> {
+ public:
+ template <class Tuple>
+ static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(5, Tuple))
+ Field(Tuple& t) { return t.f5_; } // NOLINT
+
+ template <class Tuple>
+ static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(5, Tuple))
+ ConstField(const Tuple& t) { return t.f5_; }
+};
+
+template <>
+class Get<6> {
+ public:
+ template <class Tuple>
+ static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(6, Tuple))
+ Field(Tuple& t) { return t.f6_; } // NOLINT
+
+ template <class Tuple>
+ static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(6, Tuple))
+ ConstField(const Tuple& t) { return t.f6_; }
+};
+
+template <>
+class Get<7> {
+ public:
+ template <class Tuple>
+ static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(7, Tuple))
+ Field(Tuple& t) { return t.f7_; } // NOLINT
+
+ template <class Tuple>
+ static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(7, Tuple))
+ ConstField(const Tuple& t) { return t.f7_; }
+};
+
+template <>
+class Get<8> {
+ public:
+ template <class Tuple>
+ static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(8, Tuple))
+ Field(Tuple& t) { return t.f8_; } // NOLINT
+
+ template <class Tuple>
+ static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(8, Tuple))
+ ConstField(const Tuple& t) { return t.f8_; }
+};
+
+template <>
+class Get<9> {
+ public:
+ template <class Tuple>
+ static GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(9, Tuple))
+ Field(Tuple& t) { return t.f9_; } // NOLINT
+
+ template <class Tuple>
+ static GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(9, Tuple))
+ ConstField(const Tuple& t) { return t.f9_; }
+};
+
+} // namespace gtest_internal
+
+template <int k, GTEST_10_TYPENAMES_(T)>
+GTEST_ADD_REF_(GTEST_TUPLE_ELEMENT_(k, GTEST_10_TUPLE_(T)))
+get(GTEST_10_TUPLE_(T)& t) {
+ return gtest_internal::Get<k>::Field(t);
+}
+
+template <int k, GTEST_10_TYPENAMES_(T)>
+GTEST_BY_REF_(GTEST_TUPLE_ELEMENT_(k, GTEST_10_TUPLE_(T)))
+get(const GTEST_10_TUPLE_(T)& t) {
+ return gtest_internal::Get<k>::ConstField(t);
+}
+
+// 6.1.3.5 Relational operators
+
+// We only implement == and !=, as we don't have a need for the rest yet.
+
+namespace gtest_internal {
+
+// SameSizeTuplePrefixComparator<k, k>::Eq(t1, t2) returns true if the
+// first k fields of t1 equals the first k fields of t2.
+// SameSizeTuplePrefixComparator(k1, k2) would be a compiler error if
+// k1 != k2.
+template <int kSize1, int kSize2>
+struct SameSizeTuplePrefixComparator;
+
+template <>
+struct SameSizeTuplePrefixComparator<0, 0> {
+ template <class Tuple1, class Tuple2>
+ static bool Eq(const Tuple1& /* t1 */, const Tuple2& /* t2 */) {
+ return true;
+ }
+};
+
+template <int k>
+struct SameSizeTuplePrefixComparator<k, k> {
+ template <class Tuple1, class Tuple2>
+ static bool Eq(const Tuple1& t1, const Tuple2& t2) {
+ return SameSizeTuplePrefixComparator<k - 1, k - 1>::Eq(t1, t2) &&
+ ::std::tr1::get<k - 1>(t1) == ::std::tr1::get<k - 1>(t2);
+ }
+};
+
+} // namespace gtest_internal
+
+template <GTEST_10_TYPENAMES_(T), GTEST_10_TYPENAMES_(U)>
+inline bool operator==(const GTEST_10_TUPLE_(T)& t,
+ const GTEST_10_TUPLE_(U)& u) {
+ return gtest_internal::SameSizeTuplePrefixComparator<
+ tuple_size<GTEST_10_TUPLE_(T)>::value,
+ tuple_size<GTEST_10_TUPLE_(U)>::value>::Eq(t, u);
+}
+
+template <GTEST_10_TYPENAMES_(T), GTEST_10_TYPENAMES_(U)>
+inline bool operator!=(const GTEST_10_TUPLE_(T)& t,
+ const GTEST_10_TUPLE_(U)& u) { return !(t == u); }
+
+// 6.1.4 Pairs.
+// Unimplemented.
+
+} // namespace tr1
+} // namespace std
+
+#undef GTEST_0_TUPLE_
+#undef GTEST_1_TUPLE_
+#undef GTEST_2_TUPLE_
+#undef GTEST_3_TUPLE_
+#undef GTEST_4_TUPLE_
+#undef GTEST_5_TUPLE_
+#undef GTEST_6_TUPLE_
+#undef GTEST_7_TUPLE_
+#undef GTEST_8_TUPLE_
+#undef GTEST_9_TUPLE_
+#undef GTEST_10_TUPLE_
+
+#undef GTEST_0_TYPENAMES_
+#undef GTEST_1_TYPENAMES_
+#undef GTEST_2_TYPENAMES_
+#undef GTEST_3_TYPENAMES_
+#undef GTEST_4_TYPENAMES_
+#undef GTEST_5_TYPENAMES_
+#undef GTEST_6_TYPENAMES_
+#undef GTEST_7_TYPENAMES_
+#undef GTEST_8_TYPENAMES_
+#undef GTEST_9_TYPENAMES_
+#undef GTEST_10_TYPENAMES_
+
+#undef GTEST_DECLARE_TUPLE_AS_FRIEND_
+#undef GTEST_BY_REF_
+#undef GTEST_ADD_REF_
+#undef GTEST_TUPLE_ELEMENT_
+
+#endif // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_TUPLE_H_
+# elif GTEST_OS_SYMBIAN
+
+// On Symbian, BOOST_HAS_TR1_TUPLE causes Boost's TR1 tuple library to
+// use STLport's tuple implementation, which unfortunately doesn't
+// work as the copy of STLport distributed with Symbian is incomplete.
+// By making sure BOOST_HAS_TR1_TUPLE is undefined, we force Boost to
+// use its own tuple implementation.
+# ifdef BOOST_HAS_TR1_TUPLE
+# undef BOOST_HAS_TR1_TUPLE
+# endif // BOOST_HAS_TR1_TUPLE
+
+// This prevents <boost/tr1/detail/config.hpp>, which defines
+// BOOST_HAS_TR1_TUPLE, from being #included by Boost's <tuple>.
+# define BOOST_TR1_DETAIL_CONFIG_HPP_INCLUDED
+# include <tuple>
+
+# elif defined(__GNUC__) && (GTEST_GCC_VER_ >= 40000)
+// GCC 4.0+ implements tr1/tuple in the <tr1/tuple> header. This does
+// not conform to the TR1 spec, which requires the header to be <tuple>.
+
+# if !GTEST_HAS_RTTI && GTEST_GCC_VER_ < 40302
+// Until version 4.3.2, gcc has a bug that causes <tr1/functional>,
+// which is #included by <tr1/tuple>, to not compile when RTTI is
+// disabled. _TR1_FUNCTIONAL is the header guard for
+// <tr1/functional>. Hence the following #define is a hack to prevent
+// <tr1/functional> from being included.
+# define _TR1_FUNCTIONAL 1
+# include <tr1/tuple>
+# undef _TR1_FUNCTIONAL // Allows the user to #include
+ // <tr1/functional> if he chooses to.
+# else
+# include <tr1/tuple> // NOLINT
+# endif // !GTEST_HAS_RTTI && GTEST_GCC_VER_ < 40302
+
+# else
+// If the compiler is not GCC 4.0+, we assume the user is using a
+// spec-conforming TR1 implementation.
+# include <tuple> // NOLINT
+# endif // GTEST_USE_OWN_TR1_TUPLE
+
+#endif // GTEST_HAS_TR1_TUPLE
+
+// Determines whether clone(2) is supported.
+// Usually it will only be available on Linux, excluding
+// Linux on the Itanium architecture.
+// Also see http://linux.die.net/man/2/clone.
+#ifndef GTEST_HAS_CLONE
+// The user didn't tell us, so we need to figure it out.
+
+# if GTEST_OS_LINUX && !defined(__ia64__)
+# define GTEST_HAS_CLONE 1
+# else
+# define GTEST_HAS_CLONE 0
+# endif // GTEST_OS_LINUX && !defined(__ia64__)
+
+#endif // GTEST_HAS_CLONE
+
+// Determines whether to support stream redirection. This is used to test
+// output correctness and to implement death tests.
+#ifndef GTEST_HAS_STREAM_REDIRECTION
+// By default, we assume that stream redirection is supported on all
+// platforms except known mobile ones.
+# if GTEST_OS_WINDOWS_MOBILE || GTEST_OS_SYMBIAN
+# define GTEST_HAS_STREAM_REDIRECTION 0
+# else
+# define GTEST_HAS_STREAM_REDIRECTION 1
+# endif // !GTEST_OS_WINDOWS_MOBILE && !GTEST_OS_SYMBIAN
+#endif // GTEST_HAS_STREAM_REDIRECTION
+
+// Determines whether to support death tests.
+// Google Test does not support death tests for VC 7.1 and earlier as
+// abort() in a VC 7.1 application compiled as GUI in debug config
+// pops up a dialog window that cannot be suppressed programmatically.
+#if (GTEST_OS_LINUX || GTEST_OS_MAC || GTEST_OS_CYGWIN || GTEST_OS_SOLARIS || \
+ (GTEST_OS_WINDOWS_DESKTOP && _MSC_VER >= 1400) || \
+ GTEST_OS_WINDOWS_MINGW || GTEST_OS_AIX || GTEST_OS_HPUX)
+# define GTEST_HAS_DEATH_TEST 1
+# include <vector> // NOLINT
+#endif
+
+// We don't support MSVC 7.1 with exceptions disabled now. Therefore
+// all the compilers we care about are adequate for supporting
+// value-parameterized tests.
+#define GTEST_HAS_PARAM_TEST 1
+
+// Determines whether to support type-driven tests.
+
+// Typed tests need <typeinfo> and variadic macros, which GCC, VC++ 8.0,
+// Sun Pro CC, IBM Visual Age, and HP aCC support.
+#if defined(__GNUC__) || (_MSC_VER >= 1400) || defined(__SUNPRO_CC) || \
+ defined(__IBMCPP__) || defined(__HP_aCC)
+# define GTEST_HAS_TYPED_TEST 1
+# define GTEST_HAS_TYPED_TEST_P 1
+#endif
+
+// Determines whether to support Combine(). This only makes sense when
+// value-parameterized tests are enabled. The implementation doesn't
+// work on Sun Studio since it doesn't understand templated conversion
+// operators.
+#if GTEST_HAS_PARAM_TEST && GTEST_HAS_TR1_TUPLE && !defined(__SUNPRO_CC)
+# define GTEST_HAS_COMBINE 1
+#endif
+
+// Determines whether the system compiler uses UTF-16 for encoding wide strings.
+#define GTEST_WIDE_STRING_USES_UTF16_ \
+ (GTEST_OS_WINDOWS || GTEST_OS_CYGWIN || GTEST_OS_SYMBIAN || GTEST_OS_AIX)
+
+// Determines whether test results can be streamed to a socket.
+#if GTEST_OS_LINUX
+# define GTEST_CAN_STREAM_RESULTS_ 1
+#endif
+
+// Defines some utility macros.
+
+// The GNU compiler emits a warning if nested "if" statements are followed by
+// an "else" statement and braces are not used to explicitly disambiguate the
+// "else" binding. This leads to problems with code like:
+//
+// if (gate)
+// ASSERT_*(condition) << "Some message";
+//
+// The "switch (0) case 0:" idiom is used to suppress this.
+#ifdef __INTEL_COMPILER
+# define GTEST_AMBIGUOUS_ELSE_BLOCKER_
+#else
+# define GTEST_AMBIGUOUS_ELSE_BLOCKER_ switch (0) case 0: default: // NOLINT
+#endif
+
+// Use this annotation at the end of a struct/class definition to
+// prevent the compiler from optimizing away instances that are never
+// used. This is useful when all interesting logic happens inside the
+// c'tor and / or d'tor. Example:
+//
+// struct Foo {
+// Foo() { ... }
+// } GTEST_ATTRIBUTE_UNUSED_;
+//
+// Also use it after a variable or parameter declaration to tell the
+// compiler the variable/parameter does not have to be used.
+#if defined(__GNUC__) && !defined(COMPILER_ICC)
+# define GTEST_ATTRIBUTE_UNUSED_ __attribute__ ((unused))
+#else
+# define GTEST_ATTRIBUTE_UNUSED_
+#endif
+
+// A macro to disallow operator=
+// This should be used in the private: declarations for a class.
+#define GTEST_DISALLOW_ASSIGN_(type)\
+ void operator=(type const &)
+
+// A macro to disallow copy constructor and operator=
+// This should be used in the private: declarations for a class.
+#define GTEST_DISALLOW_COPY_AND_ASSIGN_(type)\
+ type(type const &);\
+ GTEST_DISALLOW_ASSIGN_(type)
+
+// Tell the compiler to warn about unused return values for functions declared
+// with this macro. The macro should be used on function declarations
+// following the argument list:
+//
+// Sprocket* AllocateSprocket() GTEST_MUST_USE_RESULT_;
+#if defined(__GNUC__) && (GTEST_GCC_VER_ >= 30400) && !defined(COMPILER_ICC)
+# define GTEST_MUST_USE_RESULT_ __attribute__ ((warn_unused_result))
+#else
+# define GTEST_MUST_USE_RESULT_
+#endif // __GNUC__ && (GTEST_GCC_VER_ >= 30400) && !COMPILER_ICC
+
+// Determine whether the compiler supports Microsoft's Structured Exception
+// Handling. This is supported by several Windows compilers but generally
+// does not exist on any other system.
+#ifndef GTEST_HAS_SEH
+// The user didn't tell us, so we need to figure it out.
+
+# if defined(_MSC_VER) || defined(__BORLANDC__)
+// These two compilers are known to support SEH.
+# define GTEST_HAS_SEH 1
+# else
+// Assume no SEH.
+# define GTEST_HAS_SEH 0
+# endif
+
+#endif // GTEST_HAS_SEH
+
+#ifdef _MSC_VER
+
+# if GTEST_LINKED_AS_SHARED_LIBRARY
+# define GTEST_API_ __declspec(dllimport)
+# elif GTEST_CREATE_SHARED_LIBRARY
+# define GTEST_API_ __declspec(dllexport)
+# endif
+
+#endif // _MSC_VER
+
+#ifndef GTEST_API_
+# define GTEST_API_
+#endif
+
+#ifdef __GNUC__
+// Ask the compiler to never inline a given function.
+# define GTEST_NO_INLINE_ __attribute__((noinline))
+#else
+# define GTEST_NO_INLINE_
+#endif
+
+namespace testing {
+
+class Message;
+
+namespace internal {
+
+class String;
+
+// The GTEST_COMPILE_ASSERT_ macro can be used to verify that a compile time
+// expression is true. For example, you could use it to verify the
+// size of a static array:
+//
+// GTEST_COMPILE_ASSERT_(ARRAYSIZE(content_type_names) == CONTENT_NUM_TYPES,
+// content_type_names_incorrect_size);
+//
+// or to make sure a struct is smaller than a certain size:
+//
+// GTEST_COMPILE_ASSERT_(sizeof(foo) < 128, foo_too_large);
+//
+// The second argument to the macro is the name of the variable. If
+// the expression is false, most compilers will issue a warning/error
+// containing the name of the variable.
+
+template <bool>
+struct CompileAssert {
+};
+
+#define GTEST_COMPILE_ASSERT_(expr, msg) \
+ typedef ::testing::internal::CompileAssert<(bool(expr))> \
+ msg[bool(expr) ? 1 : -1]
+
+// Implementation details of GTEST_COMPILE_ASSERT_:
+//
+// - GTEST_COMPILE_ASSERT_ works by defining an array type that has -1
+// elements (and thus is invalid) when the expression is false.
+//
+// - The simpler definition
+//
+// #define GTEST_COMPILE_ASSERT_(expr, msg) typedef char msg[(expr) ? 1 : -1]
+//
+// does not work, as gcc supports variable-length arrays whose sizes
+// are determined at run-time (this is gcc's extension and not part
+// of the C++ standard). As a result, gcc fails to reject the
+// following code with the simple definition:
+//
+// int foo;
+// GTEST_COMPILE_ASSERT_(foo, msg); // not supposed to compile as foo is
+// // not a compile-time constant.
+//
+// - By using the type CompileAssert<(bool(expr))>, we ensures that
+// expr is a compile-time constant. (Template arguments must be
+// determined at compile-time.)
+//
+// - The outter parentheses in CompileAssert<(bool(expr))> are necessary
+// to work around a bug in gcc 3.4.4 and 4.0.1. If we had written
+//
+// CompileAssert<bool(expr)>
+//
+// instead, these compilers will refuse to compile
+//
+// GTEST_COMPILE_ASSERT_(5 > 0, some_message);
+//
+// (They seem to think the ">" in "5 > 0" marks the end of the
+// template argument list.)
+//
+// - The array size is (bool(expr) ? 1 : -1), instead of simply
+//
+// ((expr) ? 1 : -1).
+//
+// This is to avoid running into a bug in MS VC 7.1, which
+// causes ((0.0) ? 1 : -1) to incorrectly evaluate to 1.
+
+// StaticAssertTypeEqHelper is used by StaticAssertTypeEq defined in gtest.h.
+//
+// This template is declared, but intentionally undefined.
+template <typename T1, typename T2>
+struct StaticAssertTypeEqHelper;
+
+template <typename T>
+struct StaticAssertTypeEqHelper<T, T> {};
+
+#if GTEST_HAS_GLOBAL_STRING
+typedef ::string string;
+#else
+typedef ::std::string string;
+#endif // GTEST_HAS_GLOBAL_STRING
+
+#if GTEST_HAS_GLOBAL_WSTRING
+typedef ::wstring wstring;
+#elif GTEST_HAS_STD_WSTRING
+typedef ::std::wstring wstring;
+#endif // GTEST_HAS_GLOBAL_WSTRING
+
+// A helper for suppressing warnings on constant condition. It just
+// returns 'condition'.
+GTEST_API_ bool IsTrue(bool condition);
+
+// Defines scoped_ptr.
+
+// This implementation of scoped_ptr is PARTIAL - it only contains
+// enough stuff to satisfy Google Test's need.
+template <typename T>
+class scoped_ptr {
+ public:
+ typedef T element_type;
+
+ explicit scoped_ptr(T* p = NULL) : ptr_(p) {}
+ ~scoped_ptr() { reset(); }
+
+ T& operator*() const { return *ptr_; }
+ T* operator->() const { return ptr_; }
+ T* get() const { return ptr_; }
+
+ T* release() {
+ T* const ptr = ptr_;
+ ptr_ = NULL;
+ return ptr;
+ }
+
+ void reset(T* p = NULL) {
+ if (p != ptr_) {
+ if (IsTrue(sizeof(T) > 0)) { // Makes sure T is a complete type.
+ delete ptr_;
+ }
+ ptr_ = p;
+ }
+ }
+ private:
+ T* ptr_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(scoped_ptr);
+};
+
+// Defines RE.
+
+// A simple C++ wrapper for <regex.h>. It uses the POSIX Extended
+// Regular Expression syntax.
+class GTEST_API_ RE {
+ public:
+ // A copy constructor is required by the Standard to initialize object
+ // references from r-values.
+ RE(const RE& other) { Init(other.pattern()); }
+
+ // Constructs an RE from a string.
+ RE(const ::std::string& regex) { Init(regex.c_str()); } // NOLINT
+
+#if GTEST_HAS_GLOBAL_STRING
+
+ RE(const ::string& regex) { Init(regex.c_str()); } // NOLINT
+
+#endif // GTEST_HAS_GLOBAL_STRING
+
+ RE(const char* regex) { Init(regex); } // NOLINT
+ ~RE();
+
+ // Returns the string representation of the regex.
+ const char* pattern() const { return pattern_; }
+
+ // FullMatch(str, re) returns true iff regular expression re matches
+ // the entire str.
+ // PartialMatch(str, re) returns true iff regular expression re
+ // matches a substring of str (including str itself).
+ //
+ // TODO(wan@google.com): make FullMatch() and PartialMatch() work
+ // when str contains NUL characters.
+ static bool FullMatch(const ::std::string& str, const RE& re) {
+ return FullMatch(str.c_str(), re);
+ }
+ static bool PartialMatch(const ::std::string& str, const RE& re) {
+ return PartialMatch(str.c_str(), re);
+ }
+
+#if GTEST_HAS_GLOBAL_STRING
+
+ static bool FullMatch(const ::string& str, const RE& re) {
+ return FullMatch(str.c_str(), re);
+ }
+ static bool PartialMatch(const ::string& str, const RE& re) {
+ return PartialMatch(str.c_str(), re);
+ }
+
+#endif // GTEST_HAS_GLOBAL_STRING
+
+ static bool FullMatch(const char* str, const RE& re);
+ static bool PartialMatch(const char* str, const RE& re);
+
+ private:
+ void Init(const char* regex);
+
+ // We use a const char* instead of a string, as Google Test may be used
+ // where string is not available. We also do not use Google Test's own
+ // String type here, in order to simplify dependencies between the
+ // files.
+ const char* pattern_;
+ bool is_valid_;
+
+#if GTEST_USES_POSIX_RE
+
+ regex_t full_regex_; // For FullMatch().
+ regex_t partial_regex_; // For PartialMatch().
+
+#else // GTEST_USES_SIMPLE_RE
+
+ const char* full_pattern_; // For FullMatch();
+
+#endif
+
+ GTEST_DISALLOW_ASSIGN_(RE);
+};
+
+// Formats a source file path and a line number as they would appear
+// in an error message from the compiler used to compile this code.
+GTEST_API_ ::std::string FormatFileLocation(const char* file, int line);
+
+// Formats a file location for compiler-independent XML output.
+// Although this function is not platform dependent, we put it next to
+// FormatFileLocation in order to contrast the two functions.
+GTEST_API_ ::std::string FormatCompilerIndependentFileLocation(const char* file,
+ int line);
+
+// Defines logging utilities:
+// GTEST_LOG_(severity) - logs messages at the specified severity level. The
+// message itself is streamed into the macro.
+// LogToStderr() - directs all log messages to stderr.
+// FlushInfoLog() - flushes informational log messages.
+
+enum GTestLogSeverity {
+ GTEST_INFO,
+ GTEST_WARNING,
+ GTEST_ERROR,
+ GTEST_FATAL
+};
+
+// Formats log entry severity, provides a stream object for streaming the
+// log message, and terminates the message with a newline when going out of
+// scope.
+class GTEST_API_ GTestLog {
+ public:
+ GTestLog(GTestLogSeverity severity, const char* file, int line);
+
+ // Flushes the buffers and, if severity is GTEST_FATAL, aborts the program.
+ ~GTestLog();
+
+ ::std::ostream& GetStream() { return ::std::cerr; }
+
+ private:
+ const GTestLogSeverity severity_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(GTestLog);
+};
+
+#define GTEST_LOG_(severity) \
+ ::testing::internal::GTestLog(::testing::internal::GTEST_##severity, \
+ __FILE__, __LINE__).GetStream()
+
+inline void LogToStderr() {}
+inline void FlushInfoLog() { fflush(NULL); }
+
+// INTERNAL IMPLEMENTATION - DO NOT USE.
+//
+// GTEST_CHECK_ is an all-mode assert. It aborts the program if the condition
+// is not satisfied.
+// Synopsys:
+// GTEST_CHECK_(boolean_condition);
+// or
+// GTEST_CHECK_(boolean_condition) << "Additional message";
+//
+// This checks the condition and if the condition is not satisfied
+// it prints message about the condition violation, including the
+// condition itself, plus additional message streamed into it, if any,
+// and then it aborts the program. It aborts the program irrespective of
+// whether it is built in the debug mode or not.
+#define GTEST_CHECK_(condition) \
+ GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
+ if (::testing::internal::IsTrue(condition)) \
+ ; \
+ else \
+ GTEST_LOG_(FATAL) << "Condition " #condition " failed. "
+
+// An all-mode assert to verify that the given POSIX-style function
+// call returns 0 (indicating success). Known limitation: this
+// doesn't expand to a balanced 'if' statement, so enclose the macro
+// in {} if you need to use it as the only statement in an 'if'
+// branch.
+#define GTEST_CHECK_POSIX_SUCCESS_(posix_call) \
+ if (const int gtest_error = (posix_call)) \
+ GTEST_LOG_(FATAL) << #posix_call << "failed with error " \
+ << gtest_error
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// Use ImplicitCast_ as a safe version of static_cast for upcasting in
+// the type hierarchy (e.g. casting a Foo* to a SuperclassOfFoo* or a
+// const Foo*). When you use ImplicitCast_, the compiler checks that
+// the cast is safe. Such explicit ImplicitCast_s are necessary in
+// surprisingly many situations where C++ demands an exact type match
+// instead of an argument type convertable to a target type.
+//
+// The syntax for using ImplicitCast_ is the same as for static_cast:
+//
+// ImplicitCast_<ToType>(expr)
+//
+// ImplicitCast_ would have been part of the C++ standard library,
+// but the proposal was submitted too late. It will probably make
+// its way into the language in the future.
+//
+// This relatively ugly name is intentional. It prevents clashes with
+// similar functions users may have (e.g., implicit_cast). The internal
+// namespace alone is not enough because the function can be found by ADL.
+template<typename To>
+inline To ImplicitCast_(To x) { return x; }
+
+// When you upcast (that is, cast a pointer from type Foo to type
+// SuperclassOfFoo), it's fine to use ImplicitCast_<>, since upcasts
+// always succeed. When you downcast (that is, cast a pointer from
+// type Foo to type SubclassOfFoo), static_cast<> isn't safe, because
+// how do you know the pointer is really of type SubclassOfFoo? It
+// could be a bare Foo, or of type DifferentSubclassOfFoo. Thus,
+// when you downcast, you should use this macro. In debug mode, we
+// use dynamic_cast<> to double-check the downcast is legal (we die
+// if it's not). In normal mode, we do the efficient static_cast<>
+// instead. Thus, it's important to test in debug mode to make sure
+// the cast is legal!
+// This is the only place in the code we should use dynamic_cast<>.
+// In particular, you SHOULDN'T be using dynamic_cast<> in order to
+// do RTTI (eg code like this:
+// if (dynamic_cast<Subclass1>(foo)) HandleASubclass1Object(foo);
+// if (dynamic_cast<Subclass2>(foo)) HandleASubclass2Object(foo);
+// You should design the code some other way not to need this.
+//
+// This relatively ugly name is intentional. It prevents clashes with
+// similar functions users may have (e.g., down_cast). The internal
+// namespace alone is not enough because the function can be found by ADL.
+template<typename To, typename From> // use like this: DownCast_<T*>(foo);
+inline To DownCast_(From* f) { // so we only accept pointers
+ // Ensures that To is a sub-type of From *. This test is here only
+ // for compile-time type checking, and has no overhead in an
+ // optimized build at run-time, as it will be optimized away
+ // completely.
+ if (false) {
+ const To to = NULL;
+ ::testing::internal::ImplicitCast_<From*>(to);
+ }
+
+#if GTEST_HAS_RTTI
+ // RTTI: debug mode only!
+ GTEST_CHECK_(f == NULL || dynamic_cast<To>(f) != NULL);
+#endif
+ return static_cast<To>(f);
+}
+
+// Downcasts the pointer of type Base to Derived.
+// Derived must be a subclass of Base. The parameter MUST
+// point to a class of type Derived, not any subclass of it.
+// When RTTI is available, the function performs a runtime
+// check to enforce this.
+template <class Derived, class Base>
+Derived* CheckedDowncastToActualType(Base* base) {
+#if GTEST_HAS_RTTI
+ GTEST_CHECK_(typeid(*base) == typeid(Derived));
+ return dynamic_cast<Derived*>(base); // NOLINT
+#else
+ return static_cast<Derived*>(base); // Poor man's downcast.
+#endif
+}
+
+#if GTEST_HAS_STREAM_REDIRECTION
+
+// Defines the stderr capturer:
+// CaptureStdout - starts capturing stdout.
+// GetCapturedStdout - stops capturing stdout and returns the captured string.
+// CaptureStderr - starts capturing stderr.
+// GetCapturedStderr - stops capturing stderr and returns the captured string.
+//
+GTEST_API_ void CaptureStdout();
+GTEST_API_ String GetCapturedStdout();
+GTEST_API_ void CaptureStderr();
+GTEST_API_ String GetCapturedStderr();
+
+#endif // GTEST_HAS_STREAM_REDIRECTION
+
+
+#if GTEST_HAS_DEATH_TEST
+
+// A copy of all command line arguments. Set by InitGoogleTest().
+extern ::std::vector<String> g_argvs;
+
+// GTEST_HAS_DEATH_TEST implies we have ::std::string.
+const ::std::vector<String>& GetArgvs();
+
+#endif // GTEST_HAS_DEATH_TEST
+
+// Defines synchronization primitives.
+
+#if GTEST_HAS_PTHREAD
+
+// Sleeps for (roughly) n milli-seconds. This function is only for
+// testing Google Test's own constructs. Don't use it in user tests,
+// either directly or indirectly.
+inline void SleepMilliseconds(int n) {
+ const timespec time = {
+ 0, // 0 seconds.
+ n * 1000L * 1000L, // And n ms.
+ };
+ nanosleep(&time, NULL);
+}
+
+// Allows a controller thread to pause execution of newly created
+// threads until notified. Instances of this class must be created
+// and destroyed in the controller thread.
+//
+// This class is only for testing Google Test's own constructs. Do not
+// use it in user tests, either directly or indirectly.
+class Notification {
+ public:
+ Notification() : notified_(false) {}
+
+ // Notifies all threads created with this notification to start. Must
+ // be called from the controller thread.
+ void Notify() { notified_ = true; }
+
+ // Blocks until the controller thread notifies. Must be called from a test
+ // thread.
+ void WaitForNotification() {
+ while(!notified_) {
+ SleepMilliseconds(10);
+ }
+ }
+
+ private:
+ volatile bool notified_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(Notification);
+};
+
+// As a C-function, ThreadFuncWithCLinkage cannot be templated itself.
+// Consequently, it cannot select a correct instantiation of ThreadWithParam
+// in order to call its Run(). Introducing ThreadWithParamBase as a
+// non-templated base class for ThreadWithParam allows us to bypass this
+// problem.
+class ThreadWithParamBase {
+ public:
+ virtual ~ThreadWithParamBase() {}
+ virtual void Run() = 0;
+};
+
+// pthread_create() accepts a pointer to a function type with the C linkage.
+// According to the Standard (7.5/1), function types with different linkages
+// are different even if they are otherwise identical. Some compilers (for
+// example, SunStudio) treat them as different types. Since class methods
+// cannot be defined with C-linkage we need to define a free C-function to
+// pass into pthread_create().
+extern "C" inline void* ThreadFuncWithCLinkage(void* thread) {
+ static_cast<ThreadWithParamBase*>(thread)->Run();
+ return NULL;
+}
+
+// Helper class for testing Google Test's multi-threading constructs.
+// To use it, write:
+//
+// void ThreadFunc(int param) { /* Do things with param */ }
+// Notification thread_can_start;
+// ...
+// // The thread_can_start parameter is optional; you can supply NULL.
+// ThreadWithParam<int> thread(&ThreadFunc, 5, &thread_can_start);
+// thread_can_start.Notify();
+//
+// These classes are only for testing Google Test's own constructs. Do
+// not use them in user tests, either directly or indirectly.
+template <typename T>
+class ThreadWithParam : public ThreadWithParamBase {
+ public:
+ typedef void (*UserThreadFunc)(T);
+
+ ThreadWithParam(
+ UserThreadFunc func, T param, Notification* thread_can_start)
+ : func_(func),
+ param_(param),
+ thread_can_start_(thread_can_start),
+ finished_(false) {
+ ThreadWithParamBase* const base = this;
+ // The thread can be created only after all fields except thread_
+ // have been initialized.
+ GTEST_CHECK_POSIX_SUCCESS_(
+ pthread_create(&thread_, 0, &ThreadFuncWithCLinkage, base));
+ }
+ ~ThreadWithParam() { Join(); }
+
+ void Join() {
+ if (!finished_) {
+ GTEST_CHECK_POSIX_SUCCESS_(pthread_join(thread_, 0));
+ finished_ = true;
+ }
+ }
+
+ virtual void Run() {
+ if (thread_can_start_ != NULL)
+ thread_can_start_->WaitForNotification();
+ func_(param_);
+ }
+
+ private:
+ const UserThreadFunc func_; // User-supplied thread function.
+ const T param_; // User-supplied parameter to the thread function.
+ // When non-NULL, used to block execution until the controller thread
+ // notifies.
+ Notification* const thread_can_start_;
+ bool finished_; // true iff we know that the thread function has finished.
+ pthread_t thread_; // The native thread object.
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(ThreadWithParam);
+};
+
+// MutexBase and Mutex implement mutex on pthreads-based platforms. They
+// are used in conjunction with class MutexLock:
+//
+// Mutex mutex;
+// ...
+// MutexLock lock(&mutex); // Acquires the mutex and releases it at the end
+// // of the current scope.
+//
+// MutexBase implements behavior for both statically and dynamically
+// allocated mutexes. Do not use MutexBase directly. Instead, write
+// the following to define a static mutex:
+//
+// GTEST_DEFINE_STATIC_MUTEX_(g_some_mutex);
+//
+// You can forward declare a static mutex like this:
+//
+// GTEST_DECLARE_STATIC_MUTEX_(g_some_mutex);
+//
+// To create a dynamic mutex, just define an object of type Mutex.
+class MutexBase {
+ public:
+ // Acquires this mutex.
+ void Lock() {
+ GTEST_CHECK_POSIX_SUCCESS_(pthread_mutex_lock(&mutex_));
+ owner_ = pthread_self();
+ }
+
+ // Releases this mutex.
+ void Unlock() {
+ // We don't protect writing to owner_ here, as it's the caller's
+ // responsibility to ensure that the current thread holds the
+ // mutex when this is called.
+ owner_ = 0;
+ GTEST_CHECK_POSIX_SUCCESS_(pthread_mutex_unlock(&mutex_));
+ }
+
+ // Does nothing if the current thread holds the mutex. Otherwise, crashes
+ // with high probability.
+ void AssertHeld() const {
+ GTEST_CHECK_(owner_ == pthread_self())
+ << "The current thread is not holding the mutex @" << this;
+ }
+
+ // A static mutex may be used before main() is entered. It may even
+ // be used before the dynamic initialization stage. Therefore we
+ // must be able to initialize a static mutex object at link time.
+ // This means MutexBase has to be a POD and its member variables
+ // have to be public.
+ public:
+ pthread_mutex_t mutex_; // The underlying pthread mutex.
+ pthread_t owner_; // The thread holding the mutex; 0 means no one holds it.
+};
+
+// Forward-declares a static mutex.
+# define GTEST_DECLARE_STATIC_MUTEX_(mutex) \
+ extern ::testing::internal::MutexBase mutex
+
+// Defines and statically (i.e. at link time) initializes a static mutex.
+# define GTEST_DEFINE_STATIC_MUTEX_(mutex) \
+ ::testing::internal::MutexBase mutex = { PTHREAD_MUTEX_INITIALIZER, 0 }
+
+// The Mutex class can only be used for mutexes created at runtime. It
+// shares its API with MutexBase otherwise.
+class Mutex : public MutexBase {
+ public:
+ Mutex() {
+ GTEST_CHECK_POSIX_SUCCESS_(pthread_mutex_init(&mutex_, NULL));
+ owner_ = 0;
+ }
+ ~Mutex() {
+ GTEST_CHECK_POSIX_SUCCESS_(pthread_mutex_destroy(&mutex_));
+ }
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(Mutex);
+};
+
+// We cannot name this class MutexLock as the ctor declaration would
+// conflict with a macro named MutexLock, which is defined on some
+// platforms. Hence the typedef trick below.
+class GTestMutexLock {
+ public:
+ explicit GTestMutexLock(MutexBase* mutex)
+ : mutex_(mutex) { mutex_->Lock(); }
+
+ ~GTestMutexLock() { mutex_->Unlock(); }
+
+ private:
+ MutexBase* const mutex_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(GTestMutexLock);
+};
+
+typedef GTestMutexLock MutexLock;
+
+// Helpers for ThreadLocal.
+
+// pthread_key_create() requires DeleteThreadLocalValue() to have
+// C-linkage. Therefore it cannot be templatized to access
+// ThreadLocal<T>. Hence the need for class
+// ThreadLocalValueHolderBase.
+class ThreadLocalValueHolderBase {
+ public:
+ virtual ~ThreadLocalValueHolderBase() {}
+};
+
+// Called by pthread to delete thread-local data stored by
+// pthread_setspecific().
+extern "C" inline void DeleteThreadLocalValue(void* value_holder) {
+ delete static_cast<ThreadLocalValueHolderBase*>(value_holder);
+}
+
+// Implements thread-local storage on pthreads-based systems.
+//
+// // Thread 1
+// ThreadLocal<int> tl(100); // 100 is the default value for each thread.
+//
+// // Thread 2
+// tl.set(150); // Changes the value for thread 2 only.
+// EXPECT_EQ(150, tl.get());
+//
+// // Thread 1
+// EXPECT_EQ(100, tl.get()); // In thread 1, tl has the original value.
+// tl.set(200);
+// EXPECT_EQ(200, tl.get());
+//
+// The template type argument T must have a public copy constructor.
+// In addition, the default ThreadLocal constructor requires T to have
+// a public default constructor.
+//
+// An object managed for a thread by a ThreadLocal instance is deleted
+// when the thread exits. Or, if the ThreadLocal instance dies in
+// that thread, when the ThreadLocal dies. It's the user's
+// responsibility to ensure that all other threads using a ThreadLocal
+// have exited when it dies, or the per-thread objects for those
+// threads will not be deleted.
+//
+// Google Test only uses global ThreadLocal objects. That means they
+// will die after main() has returned. Therefore, no per-thread
+// object managed by Google Test will be leaked as long as all threads
+// using Google Test have exited when main() returns.
+template <typename T>
+class ThreadLocal {
+ public:
+ ThreadLocal() : key_(CreateKey()),
+ default_() {}
+ explicit ThreadLocal(const T& value) : key_(CreateKey()),
+ default_(value) {}
+
+ ~ThreadLocal() {
+ // Destroys the managed object for the current thread, if any.
+ DeleteThreadLocalValue(pthread_getspecific(key_));
+
+ // Releases resources associated with the key. This will *not*
+ // delete managed objects for other threads.
+ GTEST_CHECK_POSIX_SUCCESS_(pthread_key_delete(key_));
+ }
+
+ T* pointer() { return GetOrCreateValue(); }
+ const T* pointer() const { return GetOrCreateValue(); }
+ const T& get() const { return *pointer(); }
+ void set(const T& value) { *pointer() = value; }
+
+ private:
+ // Holds a value of type T.
+ class ValueHolder : public ThreadLocalValueHolderBase {
+ public:
+ explicit ValueHolder(const T& value) : value_(value) {}
+
+ T* pointer() { return &value_; }
+
+ private:
+ T value_;
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(ValueHolder);
+ };
+
+ static pthread_key_t CreateKey() {
+ pthread_key_t key;
+ // When a thread exits, DeleteThreadLocalValue() will be called on
+ // the object managed for that thread.
+ GTEST_CHECK_POSIX_SUCCESS_(
+ pthread_key_create(&key, &DeleteThreadLocalValue));
+ return key;
+ }
+
+ T* GetOrCreateValue() const {
+ ThreadLocalValueHolderBase* const holder =
+ static_cast<ThreadLocalValueHolderBase*>(pthread_getspecific(key_));
+ if (holder != NULL) {
+ return CheckedDowncastToActualType<ValueHolder>(holder)->pointer();
+ }
+
+ ValueHolder* const new_holder = new ValueHolder(default_);
+ ThreadLocalValueHolderBase* const holder_base = new_holder;
+ GTEST_CHECK_POSIX_SUCCESS_(pthread_setspecific(key_, holder_base));
+ return new_holder->pointer();
+ }
+
+ // A key pthreads uses for looking up per-thread values.
+ const pthread_key_t key_;
+ const T default_; // The default value for each thread.
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(ThreadLocal);
+};
+
+# define GTEST_IS_THREADSAFE 1
+
+#else // GTEST_HAS_PTHREAD
+
+// A dummy implementation of synchronization primitives (mutex, lock,
+// and thread-local variable). Necessary for compiling Google Test where
+// mutex is not supported - using Google Test in multiple threads is not
+// supported on such platforms.
+
+class Mutex {
+ public:
+ Mutex() {}
+ void AssertHeld() const {}
+};
+
+# define GTEST_DECLARE_STATIC_MUTEX_(mutex) \
+ extern ::testing::internal::Mutex mutex
+
+# define GTEST_DEFINE_STATIC_MUTEX_(mutex) ::testing::internal::Mutex mutex
+
+class GTestMutexLock {
+ public:
+ explicit GTestMutexLock(Mutex*) {} // NOLINT
+};
+
+typedef GTestMutexLock MutexLock;
+
+template <typename T>
+class ThreadLocal {
+ public:
+ ThreadLocal() : value_() {}
+ explicit ThreadLocal(const T& value) : value_(value) {}
+ T* pointer() { return &value_; }
+ const T* pointer() const { return &value_; }
+ const T& get() const { return value_; }
+ void set(const T& value) { value_ = value; }
+ private:
+ T value_;
+};
+
+// The above synchronization primitives have dummy implementations.
+// Therefore Google Test is not thread-safe.
+# define GTEST_IS_THREADSAFE 0
+
+#endif // GTEST_HAS_PTHREAD
+
+// Returns the number of threads running in the process, or 0 to indicate that
+// we cannot detect it.
+GTEST_API_ size_t GetThreadCount();
+
+// Passing non-POD classes through ellipsis (...) crashes the ARM
+// compiler and generates a warning in Sun Studio. The Nokia Symbian
+// and the IBM XL C/C++ compiler try to instantiate a copy constructor
+// for objects passed through ellipsis (...), failing for uncopyable
+// objects. We define this to ensure that only POD is passed through
+// ellipsis on these systems.
+#if defined(__SYMBIAN32__) || defined(__IBMCPP__) || defined(__SUNPRO_CC)
+// We lose support for NULL detection where the compiler doesn't like
+// passing non-POD classes through ellipsis (...).
+# define GTEST_ELLIPSIS_NEEDS_POD_ 1
+#else
+# define GTEST_CAN_COMPARE_NULL 1
+#endif
+
+// The Nokia Symbian and IBM XL C/C++ compilers cannot decide between
+// const T& and const T* in a function template. These compilers
+// _can_ decide between class template specializations for T and T*,
+// so a tr1::type_traits-like is_pointer works.
+#if defined(__SYMBIAN32__) || defined(__IBMCPP__)
+# define GTEST_NEEDS_IS_POINTER_ 1
+#endif
+
+template <bool bool_value>
+struct bool_constant {
+ typedef bool_constant<bool_value> type;
+ static const bool value = bool_value;
+};
+template <bool bool_value> const bool bool_constant<bool_value>::value;
+
+typedef bool_constant<false> false_type;
+typedef bool_constant<true> true_type;
+
+template <typename T>
+struct is_pointer : public false_type {};
+
+template <typename T>
+struct is_pointer<T*> : public true_type {};
+
+template <typename Iterator>
+struct IteratorTraits {
+ typedef typename Iterator::value_type value_type;
+};
+
+template <typename T>
+struct IteratorTraits<T*> {
+ typedef T value_type;
+};
+
+template <typename T>
+struct IteratorTraits<const T*> {
+ typedef T value_type;
+};
+
+#if GTEST_OS_WINDOWS
+# define GTEST_PATH_SEP_ "\\"
+# define GTEST_HAS_ALT_PATH_SEP_ 1
+// The biggest signed integer type the compiler supports.
+typedef __int64 BiggestInt;
+#else
+# define GTEST_PATH_SEP_ "/"
+# define GTEST_HAS_ALT_PATH_SEP_ 0
+typedef long long BiggestInt; // NOLINT
+#endif // GTEST_OS_WINDOWS
+
+// Utilities for char.
+
+// isspace(int ch) and friends accept an unsigned char or EOF. char
+// may be signed, depending on the compiler (or compiler flags).
+// Therefore we need to cast a char to unsigned char before calling
+// isspace(), etc.
+
+inline bool IsAlpha(char ch) {
+ return isalpha(static_cast<unsigned char>(ch)) != 0;
+}
+inline bool IsAlNum(char ch) {
+ return isalnum(static_cast<unsigned char>(ch)) != 0;
+}
+inline bool IsDigit(char ch) {
+ return isdigit(static_cast<unsigned char>(ch)) != 0;
+}
+inline bool IsLower(char ch) {
+ return islower(static_cast<unsigned char>(ch)) != 0;
+}
+inline bool IsSpace(char ch) {
+ return isspace(static_cast<unsigned char>(ch)) != 0;
+}
+inline bool IsUpper(char ch) {
+ return isupper(static_cast<unsigned char>(ch)) != 0;
+}
+inline bool IsXDigit(char ch) {
+ return isxdigit(static_cast<unsigned char>(ch)) != 0;
+}
+
+inline char ToLower(char ch) {
+ return static_cast<char>(tolower(static_cast<unsigned char>(ch)));
+}
+inline char ToUpper(char ch) {
+ return static_cast<char>(toupper(static_cast<unsigned char>(ch)));
+}
+
+// The testing::internal::posix namespace holds wrappers for common
+// POSIX functions. These wrappers hide the differences between
+// Windows/MSVC and POSIX systems. Since some compilers define these
+// standard functions as macros, the wrapper cannot have the same name
+// as the wrapped function.
+
+namespace posix {
+
+// Functions with a different name on Windows.
+
+#if GTEST_OS_WINDOWS
+
+typedef struct _stat StatStruct;
+
+# ifdef __BORLANDC__
+inline int IsATTY(int fd) { return isatty(fd); }
+inline int StrCaseCmp(const char* s1, const char* s2) {
+ return stricmp(s1, s2);
+}
+inline char* StrDup(const char* src) { return strdup(src); }
+# else // !__BORLANDC__
+# if GTEST_OS_WINDOWS_MOBILE
+inline int IsATTY(int /* fd */) { return 0; }
+# else
+inline int IsATTY(int fd) { return _isatty(fd); }
+# endif // GTEST_OS_WINDOWS_MOBILE
+inline int StrCaseCmp(const char* s1, const char* s2) {
+ return _stricmp(s1, s2);
+}
+inline char* StrDup(const char* src) { return _strdup(src); }
+# endif // __BORLANDC__
+
+# if GTEST_OS_WINDOWS_MOBILE
+inline int FileNo(FILE* file) { return reinterpret_cast<int>(_fileno(file)); }
+// Stat(), RmDir(), and IsDir() are not needed on Windows CE at this
+// time and thus not defined there.
+# else
+inline int FileNo(FILE* file) { return _fileno(file); }
+inline int Stat(const char* path, StatStruct* buf) { return _stat(path, buf); }
+inline int RmDir(const char* dir) { return _rmdir(dir); }
+inline bool IsDir(const StatStruct& st) {
+ return (_S_IFDIR & st.st_mode) != 0;
+}
+# endif // GTEST_OS_WINDOWS_MOBILE
+
+#else
+
+typedef struct stat StatStruct;
+
+inline int FileNo(FILE* file) { return fileno(file); }
+inline int IsATTY(int fd) { return isatty(fd); }
+inline int Stat(const char* path, StatStruct* buf) { return stat(path, buf); }
+inline int StrCaseCmp(const char* s1, const char* s2) {
+ return strcasecmp(s1, s2);
+}
+inline char* StrDup(const char* src) { return strdup(src); }
+inline int RmDir(const char* dir) { return rmdir(dir); }
+inline bool IsDir(const StatStruct& st) { return S_ISDIR(st.st_mode); }
+
+#endif // GTEST_OS_WINDOWS
+
+// Functions deprecated by MSVC 8.0.
+
+#ifdef _MSC_VER
+// Temporarily disable warning 4996 (deprecated function).
+# pragma warning(push)
+# pragma warning(disable:4996)
+#endif
+
+inline const char* StrNCpy(char* dest, const char* src, size_t n) {
+ return strncpy(dest, src, n);
+}
+
+// ChDir(), FReopen(), FDOpen(), Read(), Write(), Close(), and
+// StrError() aren't needed on Windows CE at this time and thus not
+// defined there.
+
+#if !GTEST_OS_WINDOWS_MOBILE
+inline int ChDir(const char* dir) { return chdir(dir); }
+#endif
+inline FILE* FOpen(const char* path, const char* mode) {
+ return fopen(path, mode);
+}
+#if !GTEST_OS_WINDOWS_MOBILE
+inline FILE *FReopen(const char* path, const char* mode, FILE* stream) {
+ return freopen(path, mode, stream);
+}
+inline FILE* FDOpen(int fd, const char* mode) { return fdopen(fd, mode); }
+#endif
+inline int FClose(FILE* fp) { return fclose(fp); }
+#if !GTEST_OS_WINDOWS_MOBILE
+inline int Read(int fd, void* buf, unsigned int count) {
+ return static_cast<int>(read(fd, buf, count));
+}
+inline int Write(int fd, const void* buf, unsigned int count) {
+ return static_cast<int>(write(fd, buf, count));
+}
+inline int Close(int fd) { return close(fd); }
+inline const char* StrError(int errnum) { return strerror(errnum); }
+#endif
+inline const char* GetEnv(const char* name) {
+#if GTEST_OS_WINDOWS_MOBILE
+ // We are on Windows CE, which has no environment variables.
+ return NULL;
+#elif defined(__BORLANDC__) || defined(__SunOS_5_8) || defined(__SunOS_5_9)
+ // Environment variables which we programmatically clear will be set to the
+ // empty string rather than unset (NULL). Handle that case.
+ const char* const env = getenv(name);
+ return (env != NULL && env[0] != '\0') ? env : NULL;
+#else
+ return getenv(name);
+#endif
+}
+
+#ifdef _MSC_VER
+# pragma warning(pop) // Restores the warning state.
+#endif
+
+#if GTEST_OS_WINDOWS_MOBILE
+// Windows CE has no C library. The abort() function is used in
+// several places in Google Test. This implementation provides a reasonable
+// imitation of standard behaviour.
+void Abort();
+#else
+inline void Abort() { abort(); }
+#endif // GTEST_OS_WINDOWS_MOBILE
+
+} // namespace posix
+
+// The maximum number a BiggestInt can represent. This definition
+// works no matter BiggestInt is represented in one's complement or
+// two's complement.
+//
+// We cannot rely on numeric_limits in STL, as __int64 and long long
+// are not part of standard C++ and numeric_limits doesn't need to be
+// defined for them.
+const BiggestInt kMaxBiggestInt =
+ ~(static_cast<BiggestInt>(1) << (8*sizeof(BiggestInt) - 1));
+
+// This template class serves as a compile-time function from size to
+// type. It maps a size in bytes to a primitive type with that
+// size. e.g.
+//
+// TypeWithSize<4>::UInt
+//
+// is typedef-ed to be unsigned int (unsigned integer made up of 4
+// bytes).
+//
+// Such functionality should belong to STL, but I cannot find it
+// there.
+//
+// Google Test uses this class in the implementation of floating-point
+// comparison.
+//
+// For now it only handles UInt (unsigned int) as that's all Google Test
+// needs. Other types can be easily added in the future if need
+// arises.
+template <size_t size>
+class TypeWithSize {
+ public:
+ // This prevents the user from using TypeWithSize<N> with incorrect
+ // values of N.
+ typedef void UInt;
+};
+
+// The specialization for size 4.
+template <>
+class TypeWithSize<4> {
+ public:
+ // unsigned int has size 4 in both gcc and MSVC.
+ //
+ // As base/basictypes.h doesn't compile on Windows, we cannot use
+ // uint32, uint64, and etc here.
+ typedef int Int;
+ typedef unsigned int UInt;
+};
+
+// The specialization for size 8.
+template <>
+class TypeWithSize<8> {
+ public:
+
+#if GTEST_OS_WINDOWS
+ typedef __int64 Int;
+ typedef unsigned __int64 UInt;
+#else
+ typedef long long Int; // NOLINT
+ typedef unsigned long long UInt; // NOLINT
+#endif // GTEST_OS_WINDOWS
+};
+
+// Integer types of known sizes.
+typedef TypeWithSize<4>::Int Int32;
+typedef TypeWithSize<4>::UInt UInt32;
+typedef TypeWithSize<8>::Int Int64;
+typedef TypeWithSize<8>::UInt UInt64;
+typedef TypeWithSize<8>::Int TimeInMillis; // Represents time in milliseconds.
+
+// Utilities for command line flags and environment variables.
+
+// Macro for referencing flags.
+#define GTEST_FLAG(name) FLAGS_gtest_##name
+
+// Macros for declaring flags.
+#define GTEST_DECLARE_bool_(name) GTEST_API_ extern bool GTEST_FLAG(name)
+#define GTEST_DECLARE_int32_(name) \
+ GTEST_API_ extern ::testing::internal::Int32 GTEST_FLAG(name)
+#define GTEST_DECLARE_string_(name) \
+ GTEST_API_ extern ::testing::internal::String GTEST_FLAG(name)
+
+// Macros for defining flags.
+#define GTEST_DEFINE_bool_(name, default_val, doc) \
+ GTEST_API_ bool GTEST_FLAG(name) = (default_val)
+#define GTEST_DEFINE_int32_(name, default_val, doc) \
+ GTEST_API_ ::testing::internal::Int32 GTEST_FLAG(name) = (default_val)
+#define GTEST_DEFINE_string_(name, default_val, doc) \
+ GTEST_API_ ::testing::internal::String GTEST_FLAG(name) = (default_val)
+
+// Parses 'str' for a 32-bit signed integer. If successful, writes the result
+// to *value and returns true; otherwise leaves *value unchanged and returns
+// false.
+// TODO(chandlerc): Find a better way to refactor flag and environment parsing
+// out of both gtest-port.cc and gtest.cc to avoid exporting this utility
+// function.
+bool ParseInt32(const Message& src_text, const char* str, Int32* value);
+
+// Parses a bool/Int32/string from the environment variable
+// corresponding to the given Google Test flag.
+bool BoolFromGTestEnv(const char* flag, bool default_val);
+GTEST_API_ Int32 Int32FromGTestEnv(const char* flag, Int32 default_val);
+const char* StringFromGTestEnv(const char* flag, const char* default_val);
+
+} // namespace internal
+} // namespace testing
+
+#endif // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PORT_H_
+
+#if GTEST_OS_LINUX
+# include <stdlib.h>
+# include <sys/types.h>
+# include <sys/wait.h>
+# include <unistd.h>
+#endif // GTEST_OS_LINUX
+
+#include <ctype.h>
+#include <string.h>
+#include <iomanip>
+#include <limits>
+#include <set>
+
+// Copyright 2005, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Authors: wan@google.com (Zhanyong Wan), eefacm@gmail.com (Sean Mcafee)
+//
+// The Google C++ Testing Framework (Google Test)
+//
+// This header file declares the String class and functions used internally by
+// Google Test. They are subject to change without notice. They should not used
+// by code external to Google Test.
+//
+// This header file is #included by <gtest/internal/gtest-internal.h>.
+// It should not be #included by other files.
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_STRING_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_STRING_H_
+
+#ifdef __BORLANDC__
+// string.h is not guaranteed to provide strcpy on C++ Builder.
+# include <mem.h>
+#endif
+
+#include <string.h>
+
+#include <string>
+
+namespace testing {
+namespace internal {
+
+// String - a UTF-8 string class.
+//
+// For historic reasons, we don't use std::string.
+//
+// TODO(wan@google.com): replace this class with std::string or
+// implement it in terms of the latter.
+//
+// Note that String can represent both NULL and the empty string,
+// while std::string cannot represent NULL.
+//
+// NULL and the empty string are considered different. NULL is less
+// than anything (including the empty string) except itself.
+//
+// This class only provides minimum functionality necessary for
+// implementing Google Test. We do not intend to implement a full-fledged
+// string class here.
+//
+// Since the purpose of this class is to provide a substitute for
+// std::string on platforms where it cannot be used, we define a copy
+// constructor and assignment operators such that we don't need
+// conditional compilation in a lot of places.
+//
+// In order to make the representation efficient, the d'tor of String
+// is not virtual. Therefore DO NOT INHERIT FROM String.
+class GTEST_API_ String {
+ public:
+ // Static utility methods
+
+ // Returns the input enclosed in double quotes if it's not NULL;
+ // otherwise returns "(null)". For example, "\"Hello\"" is returned
+ // for input "Hello".
+ //
+ // This is useful for printing a C string in the syntax of a literal.
+ //
+ // Known issue: escape sequences are not handled yet.
+ static String ShowCStringQuoted(const char* c_str);
+
+ // Clones a 0-terminated C string, allocating memory using new. The
+ // caller is responsible for deleting the return value using
+ // delete[]. Returns the cloned string, or NULL if the input is
+ // NULL.
+ //
+ // This is different from strdup() in string.h, which allocates
+ // memory using malloc().
+ static const char* CloneCString(const char* c_str);
+
+#if GTEST_OS_WINDOWS_MOBILE
+ // Windows CE does not have the 'ANSI' versions of Win32 APIs. To be
+ // able to pass strings to Win32 APIs on CE we need to convert them
+ // to 'Unicode', UTF-16.
+
+ // Creates a UTF-16 wide string from the given ANSI string, allocating
+ // memory using new. The caller is responsible for deleting the return
+ // value using delete[]. Returns the wide string, or NULL if the
+ // input is NULL.
+ //
+ // The wide string is created using the ANSI codepage (CP_ACP) to
+ // match the behaviour of the ANSI versions of Win32 calls and the
+ // C runtime.
+ static LPCWSTR AnsiToUtf16(const char* c_str);
+
+ // Creates an ANSI string from the given wide string, allocating
+ // memory using new. The caller is responsible for deleting the return
+ // value using delete[]. Returns the ANSI string, or NULL if the
+ // input is NULL.
+ //
+ // The returned string is created using the ANSI codepage (CP_ACP) to
+ // match the behaviour of the ANSI versions of Win32 calls and the
+ // C runtime.
+ static const char* Utf16ToAnsi(LPCWSTR utf16_str);
+#endif
+
+ // Compares two C strings. Returns true iff they have the same content.
+ //
+ // Unlike strcmp(), this function can handle NULL argument(s). A
+ // NULL C string is considered different to any non-NULL C string,
+ // including the empty string.
+ static bool CStringEquals(const char* lhs, const char* rhs);
+
+ // Converts a wide C string to a String using the UTF-8 encoding.
+ // NULL will be converted to "(null)". If an error occurred during
+ // the conversion, "(failed to convert from wide string)" is
+ // returned.
+ static String ShowWideCString(const wchar_t* wide_c_str);
+
+ // Similar to ShowWideCString(), except that this function encloses
+ // the converted string in double quotes.
+ static String ShowWideCStringQuoted(const wchar_t* wide_c_str);
+
+ // Compares two wide C strings. Returns true iff they have the same
+ // content.
+ //
+ // Unlike wcscmp(), this function can handle NULL argument(s). A
+ // NULL C string is considered different to any non-NULL C string,
+ // including the empty string.
+ static bool WideCStringEquals(const wchar_t* lhs, const wchar_t* rhs);
+
+ // Compares two C strings, ignoring case. Returns true iff they
+ // have the same content.
+ //
+ // Unlike strcasecmp(), this function can handle NULL argument(s).
+ // A NULL C string is considered different to any non-NULL C string,
+ // including the empty string.
+ static bool CaseInsensitiveCStringEquals(const char* lhs,
+ const char* rhs);
+
+ // Compares two wide C strings, ignoring case. Returns true iff they
+ // have the same content.
+ //
+ // Unlike wcscasecmp(), this function can handle NULL argument(s).
+ // A NULL C string is considered different to any non-NULL wide C string,
+ // including the empty string.
+ // NB: The implementations on different platforms slightly differ.
+ // On windows, this method uses _wcsicmp which compares according to LC_CTYPE
+ // environment variable. On GNU platform this method uses wcscasecmp
+ // which compares according to LC_CTYPE category of the current locale.
+ // On MacOS X, it uses towlower, which also uses LC_CTYPE category of the
+ // current locale.
+ static bool CaseInsensitiveWideCStringEquals(const wchar_t* lhs,
+ const wchar_t* rhs);
+
+ // Formats a list of arguments to a String, using the same format
+ // spec string as for printf.
+ //
+ // We do not use the StringPrintf class as it is not universally
+ // available.
+ //
+ // The result is limited to 4096 characters (including the tailing
+ // 0). If 4096 characters are not enough to format the input,
+ // "<buffer exceeded>" is returned.
+ static String Format(const char* format, ...);
+
+ // C'tors
+
+ // The default c'tor constructs a NULL string.
+ String() : c_str_(NULL), length_(0) {}
+
+ // Constructs a String by cloning a 0-terminated C string.
+ String(const char* a_c_str) { // NOLINT
+ if (a_c_str == NULL) {
+ c_str_ = NULL;
+ length_ = 0;
+ } else {
+ ConstructNonNull(a_c_str, strlen(a_c_str));
+ }
+ }
+
+ // Constructs a String by copying a given number of chars from a
+ // buffer. E.g. String("hello", 3) creates the string "hel",
+ // String("a\0bcd", 4) creates "a\0bc", String(NULL, 0) creates "",
+ // and String(NULL, 1) results in access violation.
+ String(const char* buffer, size_t a_length) {
+ ConstructNonNull(buffer, a_length);
+ }
+
+ // The copy c'tor creates a new copy of the string. The two
+ // String objects do not share content.
+ String(const String& str) : c_str_(NULL), length_(0) { *this = str; }
+
+ // D'tor. String is intended to be a final class, so the d'tor
+ // doesn't need to be virtual.
+ ~String() { delete[] c_str_; }
+
+ // Allows a String to be implicitly converted to an ::std::string or
+ // ::string, and vice versa. Converting a String containing a NULL
+ // pointer to ::std::string or ::string is undefined behavior.
+ // Converting a ::std::string or ::string containing an embedded NUL
+ // character to a String will result in the prefix up to the first
+ // NUL character.
+ String(const ::std::string& str) {
+ ConstructNonNull(str.c_str(), str.length());
+ }
+
+ operator ::std::string() const { return ::std::string(c_str(), length()); }
+
+#if GTEST_HAS_GLOBAL_STRING
+ String(const ::string& str) {
+ ConstructNonNull(str.c_str(), str.length());
+ }
+
+ operator ::string() const { return ::string(c_str(), length()); }
+#endif // GTEST_HAS_GLOBAL_STRING
+
+ // Returns true iff this is an empty string (i.e. "").
+ bool empty() const { return (c_str() != NULL) && (length() == 0); }
+
+ // Compares this with another String.
+ // Returns < 0 if this is less than rhs, 0 if this is equal to rhs, or > 0
+ // if this is greater than rhs.
+ int Compare(const String& rhs) const;
+
+ // Returns true iff this String equals the given C string. A NULL
+ // string and a non-NULL string are considered not equal.
+ bool operator==(const char* a_c_str) const { return Compare(a_c_str) == 0; }
+
+ // Returns true iff this String is less than the given String. A
+ // NULL string is considered less than "".
+ bool operator<(const String& rhs) const { return Compare(rhs) < 0; }
+
+ // Returns true iff this String doesn't equal the given C string. A NULL
+ // string and a non-NULL string are considered not equal.
+ bool operator!=(const char* a_c_str) const { return !(*this == a_c_str); }
+
+ // Returns true iff this String ends with the given suffix. *Any*
+ // String is considered to end with a NULL or empty suffix.
+ bool EndsWith(const char* suffix) const;
+
+ // Returns true iff this String ends with the given suffix, not considering
+ // case. Any String is considered to end with a NULL or empty suffix.
+ bool EndsWithCaseInsensitive(const char* suffix) const;
+
+ // Returns the length of the encapsulated string, or 0 if the
+ // string is NULL.
+ size_t length() const { return length_; }
+
+ // Gets the 0-terminated C string this String object represents.
+ // The String object still owns the string. Therefore the caller
+ // should NOT delete the return value.
+ const char* c_str() const { return c_str_; }
+
+ // Assigns a C string to this object. Self-assignment works.
+ const String& operator=(const char* a_c_str) {
+ return *this = String(a_c_str);
+ }
+
+ // Assigns a String object to this object. Self-assignment works.
+ const String& operator=(const String& rhs) {
+ if (this != &rhs) {
+ delete[] c_str_;
+ if (rhs.c_str() == NULL) {
+ c_str_ = NULL;
+ length_ = 0;
+ } else {
+ ConstructNonNull(rhs.c_str(), rhs.length());
+ }
+ }
+
+ return *this;
+ }
+
+ private:
+ // Constructs a non-NULL String from the given content. This
+ // function can only be called when c_str_ has not been allocated.
+ // ConstructNonNull(NULL, 0) results in an empty string ("").
+ // ConstructNonNull(NULL, non_zero) is undefined behavior.
+ void ConstructNonNull(const char* buffer, size_t a_length) {
+ char* const str = new char[a_length + 1];
+ memcpy(str, buffer, a_length);
+ str[a_length] = '\0';
+ c_str_ = str;
+ length_ = a_length;
+ }
+
+ const char* c_str_;
+ size_t length_;
+}; // class String
+
+// Streams a String to an ostream. Each '\0' character in the String
+// is replaced with "\\0".
+inline ::std::ostream& operator<<(::std::ostream& os, const String& str) {
+ if (str.c_str() == NULL) {
+ os << "(null)";
+ } else {
+ const char* const c_str = str.c_str();
+ for (size_t i = 0; i != str.length(); i++) {
+ if (c_str[i] == '\0') {
+ os << "\\0";
+ } else {
+ os << c_str[i];
+ }
+ }
+ }
+ return os;
+}
+
+// Gets the content of the stringstream's buffer as a String. Each '\0'
+// character in the buffer is replaced with "\\0".
+GTEST_API_ String StringStreamToString(::std::stringstream* stream);
+
+// Converts a streamable value to a String. A NULL pointer is
+// converted to "(null)". When the input value is a ::string,
+// ::std::string, ::wstring, or ::std::wstring object, each NUL
+// character in it is replaced with "\\0".
+
+// Declared here but defined in gtest.h, so that it has access
+// to the definition of the Message class, required by the ARM
+// compiler.
+template <typename T>
+String StreamableToString(const T& streamable);
+
+} // namespace internal
+} // namespace testing
+
+#endif // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_STRING_H_
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keith.ray@gmail.com (Keith Ray)
+//
+// Google Test filepath utilities
+//
+// This header file declares classes and functions used internally by
+// Google Test. They are subject to change without notice.
+//
+// This file is #included in <gtest/internal/gtest-internal.h>.
+// Do not include this header file separately!
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_FILEPATH_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_FILEPATH_H_
+
+
+namespace testing {
+namespace internal {
+
+// FilePath - a class for file and directory pathname manipulation which
+// handles platform-specific conventions (like the pathname separator).
+// Used for helper functions for naming files in a directory for xml output.
+// Except for Set methods, all methods are const or static, which provides an
+// "immutable value object" -- useful for peace of mind.
+// A FilePath with a value ending in a path separator ("like/this/") represents
+// a directory, otherwise it is assumed to represent a file. In either case,
+// it may or may not represent an actual file or directory in the file system.
+// Names are NOT checked for syntax correctness -- no checking for illegal
+// characters, malformed paths, etc.
+
+class GTEST_API_ FilePath {
+ public:
+ FilePath() : pathname_("") { }
+ FilePath(const FilePath& rhs) : pathname_(rhs.pathname_) { }
+
+ explicit FilePath(const char* pathname) : pathname_(pathname) {
+ Normalize();
+ }
+
+ explicit FilePath(const String& pathname) : pathname_(pathname) {
+ Normalize();
+ }
+
+ FilePath& operator=(const FilePath& rhs) {
+ Set(rhs);
+ return *this;
+ }
+
+ void Set(const FilePath& rhs) {
+ pathname_ = rhs.pathname_;
+ }
+
+ String ToString() const { return pathname_; }
+ const char* c_str() const { return pathname_.c_str(); }
+
+ // Returns the current working directory, or "" if unsuccessful.
+ static FilePath GetCurrentDir();
+
+ // Given directory = "dir", base_name = "test", number = 0,
+ // extension = "xml", returns "dir/test.xml". If number is greater
+ // than zero (e.g., 12), returns "dir/test_12.xml".
+ // On Windows platform, uses \ as the separator rather than /.
+ static FilePath MakeFileName(const FilePath& directory,
+ const FilePath& base_name,
+ int number,
+ const char* extension);
+
+ // Given directory = "dir", relative_path = "test.xml",
+ // returns "dir/test.xml".
+ // On Windows, uses \ as the separator rather than /.
+ static FilePath ConcatPaths(const FilePath& directory,
+ const FilePath& relative_path);
+
+ // Returns a pathname for a file that does not currently exist. The pathname
+ // will be directory/base_name.extension or
+ // directory/base_name_<number>.extension if directory/base_name.extension
+ // already exists. The number will be incremented until a pathname is found
+ // that does not already exist.
+ // Examples: 'dir/foo_test.xml' or 'dir/foo_test_1.xml'.
+ // There could be a race condition if two or more processes are calling this
+ // function at the same time -- they could both pick the same filename.
+ static FilePath GenerateUniqueFileName(const FilePath& directory,
+ const FilePath& base_name,
+ const char* extension);
+
+ // Returns true iff the path is NULL or "".
+ bool IsEmpty() const { return c_str() == NULL || *c_str() == '\0'; }
+
+ // If input name has a trailing separator character, removes it and returns
+ // the name, otherwise return the name string unmodified.
+ // On Windows platform, uses \ as the separator, other platforms use /.
+ FilePath RemoveTrailingPathSeparator() const;
+
+ // Returns a copy of the FilePath with the directory part removed.
+ // Example: FilePath("path/to/file").RemoveDirectoryName() returns
+ // FilePath("file"). If there is no directory part ("just_a_file"), it returns
+ // the FilePath unmodified. If there is no file part ("just_a_dir/") it
+ // returns an empty FilePath ("").
+ // On Windows platform, '\' is the path separator, otherwise it is '/'.
+ FilePath RemoveDirectoryName() const;
+
+ // RemoveFileName returns the directory path with the filename removed.
+ // Example: FilePath("path/to/file").RemoveFileName() returns "path/to/".
+ // If the FilePath is "a_file" or "/a_file", RemoveFileName returns
+ // FilePath("./") or, on Windows, FilePath(".\\"). If the filepath does
+ // not have a file, like "just/a/dir/", it returns the FilePath unmodified.
+ // On Windows platform, '\' is the path separator, otherwise it is '/'.
+ FilePath RemoveFileName() const;
+
+ // Returns a copy of the FilePath with the case-insensitive extension removed.
+ // Example: FilePath("dir/file.exe").RemoveExtension("EXE") returns
+ // FilePath("dir/file"). If a case-insensitive extension is not
+ // found, returns a copy of the original FilePath.
+ FilePath RemoveExtension(const char* extension) const;
+
+ // Creates directories so that path exists. Returns true if successful or if
+ // the directories already exist; returns false if unable to create
+ // directories for any reason. Will also return false if the FilePath does
+ // not represent a directory (that is, it doesn't end with a path separator).
+ bool CreateDirectoriesRecursively() const;
+
+ // Create the directory so that path exists. Returns true if successful or
+ // if the directory already exists; returns false if unable to create the
+ // directory for any reason, including if the parent directory does not
+ // exist. Not named "CreateDirectory" because that's a macro on Windows.
+ bool CreateFolder() const;
+
+ // Returns true if FilePath describes something in the file-system,
+ // either a file, directory, or whatever, and that something exists.
+ bool FileOrDirectoryExists() const;
+
+ // Returns true if pathname describes a directory in the file-system
+ // that exists.
+ bool DirectoryExists() const;
+
+ // Returns true if FilePath ends with a path separator, which indicates that
+ // it is intended to represent a directory. Returns false otherwise.
+ // This does NOT check that a directory (or file) actually exists.
+ bool IsDirectory() const;
+
+ // Returns true if pathname describes a root directory. (Windows has one
+ // root directory per disk drive.)
+ bool IsRootDirectory() const;
+
+ // Returns true if pathname describes an absolute path.
+ bool IsAbsolutePath() const;
+
+ private:
+ // Replaces multiple consecutive separators with a single separator.
+ // For example, "bar///foo" becomes "bar/foo". Does not eliminate other
+ // redundancies that might be in a pathname involving "." or "..".
+ //
+ // A pathname with multiple consecutive separators may occur either through
+ // user error or as a result of some scripts or APIs that generate a pathname
+ // with a trailing separator. On other platforms the same API or script
+ // may NOT generate a pathname with a trailing "/". Then elsewhere that
+ // pathname may have another "/" and pathname components added to it,
+ // without checking for the separator already being there.
+ // The script language and operating system may allow paths like "foo//bar"
+ // but some of the functions in FilePath will not handle that correctly. In
+ // particular, RemoveTrailingPathSeparator() only removes one separator, and
+ // it is called in CreateDirectoriesRecursively() assuming that it will change
+ // a pathname from directory syntax (trailing separator) to filename syntax.
+ //
+ // On Windows this method also replaces the alternate path separator '/' with
+ // the primary path separator '\\', so that for example "bar\\/\\foo" becomes
+ // "bar\\foo".
+
+ void Normalize();
+
+ // Returns a pointer to the last occurence of a valid path separator in
+ // the FilePath. On Windows, for example, both '/' and '\' are valid path
+ // separators. Returns NULL if no path separator was found.
+ const char* FindLastPathSeparator() const;
+
+ String pathname_;
+}; // class FilePath
+
+} // namespace internal
+} // namespace testing
+
+#endif // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_FILEPATH_H_
+// This file was GENERATED by command:
+// pump.py gtest-type-util.h.pump
+// DO NOT EDIT BY HAND!!!
+
+// Copyright 2008 Google Inc.
+// All Rights Reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Type utilities needed for implementing typed and type-parameterized
+// tests. This file is generated by a SCRIPT. DO NOT EDIT BY HAND!
+//
+// Currently we support at most 50 types in a list, and at most 50
+// type-parameterized tests in one type-parameterized test case.
+// Please contact googletestframework@googlegroups.com if you need
+// more.
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_TYPE_UTIL_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_TYPE_UTIL_H_
+
+
+// #ifdef __GNUC__ is too general here. It is possible to use gcc without using
+// libstdc++ (which is where cxxabi.h comes from).
+# ifdef __GLIBCXX__
+# include <cxxabi.h>
+# elif defined(__HP_aCC)
+# include <acxx_demangle.h>
+# endif // __GLIBCXX__
+
+namespace testing {
+namespace internal {
+
+// GetTypeName<T>() returns a human-readable name of type T.
+// NB: This function is also used in Google Mock, so don't move it inside of
+// the typed-test-only section below.
+template <typename T>
+String GetTypeName() {
+# if GTEST_HAS_RTTI
+
+ const char* const name = typeid(T).name();
+# if defined(__GLIBCXX__) || defined(__HP_aCC)
+ int status = 0;
+ // gcc's implementation of typeid(T).name() mangles the type name,
+ // so we have to demangle it.
+# ifdef __GLIBCXX__
+ using abi::__cxa_demangle;
+# endif // __GLIBCXX__
+ char* const readable_name = __cxa_demangle(name, 0, 0, &status);
+ const String name_str(status == 0 ? readable_name : name);
+ free(readable_name);
+ return name_str;
+# else
+ return name;
+# endif // __GLIBCXX__ || __HP_aCC
+
+# else
+
+ return "<type>";
+
+# endif // GTEST_HAS_RTTI
+}
+
+#if GTEST_HAS_TYPED_TEST || GTEST_HAS_TYPED_TEST_P
+
+// AssertyTypeEq<T1, T2>::type is defined iff T1 and T2 are the same
+// type. This can be used as a compile-time assertion to ensure that
+// two types are equal.
+
+template <typename T1, typename T2>
+struct AssertTypeEq;
+
+template <typename T>
+struct AssertTypeEq<T, T> {
+ typedef bool type;
+};
+
+// A unique type used as the default value for the arguments of class
+// template Types. This allows us to simulate variadic templates
+// (e.g. Types<int>, Type<int, double>, and etc), which C++ doesn't
+// support directly.
+struct None {};
+
+// The following family of struct and struct templates are used to
+// represent type lists. In particular, TypesN<T1, T2, ..., TN>
+// represents a type list with N types (T1, T2, ..., and TN) in it.
+// Except for Types0, every struct in the family has two member types:
+// Head for the first type in the list, and Tail for the rest of the
+// list.
+
+// The empty type list.
+struct Types0 {};
+
+// Type lists of length 1, 2, 3, and so on.
+
+template <typename T1>
+struct Types1 {
+ typedef T1 Head;
+ typedef Types0 Tail;
+};
+template <typename T1, typename T2>
+struct Types2 {
+ typedef T1 Head;
+ typedef Types1<T2> Tail;
+};
+
+template <typename T1, typename T2, typename T3>
+struct Types3 {
+ typedef T1 Head;
+ typedef Types2<T2, T3> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4>
+struct Types4 {
+ typedef T1 Head;
+ typedef Types3<T2, T3, T4> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5>
+struct Types5 {
+ typedef T1 Head;
+ typedef Types4<T2, T3, T4, T5> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6>
+struct Types6 {
+ typedef T1 Head;
+ typedef Types5<T2, T3, T4, T5, T6> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7>
+struct Types7 {
+ typedef T1 Head;
+ typedef Types6<T2, T3, T4, T5, T6, T7> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8>
+struct Types8 {
+ typedef T1 Head;
+ typedef Types7<T2, T3, T4, T5, T6, T7, T8> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9>
+struct Types9 {
+ typedef T1 Head;
+ typedef Types8<T2, T3, T4, T5, T6, T7, T8, T9> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10>
+struct Types10 {
+ typedef T1 Head;
+ typedef Types9<T2, T3, T4, T5, T6, T7, T8, T9, T10> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11>
+struct Types11 {
+ typedef T1 Head;
+ typedef Types10<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12>
+struct Types12 {
+ typedef T1 Head;
+ typedef Types11<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13>
+struct Types13 {
+ typedef T1 Head;
+ typedef Types12<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14>
+struct Types14 {
+ typedef T1 Head;
+ typedef Types13<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15>
+struct Types15 {
+ typedef T1 Head;
+ typedef Types14<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16>
+struct Types16 {
+ typedef T1 Head;
+ typedef Types15<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17>
+struct Types17 {
+ typedef T1 Head;
+ typedef Types16<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18>
+struct Types18 {
+ typedef T1 Head;
+ typedef Types17<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19>
+struct Types19 {
+ typedef T1 Head;
+ typedef Types18<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20>
+struct Types20 {
+ typedef T1 Head;
+ typedef Types19<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21>
+struct Types21 {
+ typedef T1 Head;
+ typedef Types20<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22>
+struct Types22 {
+ typedef T1 Head;
+ typedef Types21<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23>
+struct Types23 {
+ typedef T1 Head;
+ typedef Types22<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24>
+struct Types24 {
+ typedef T1 Head;
+ typedef Types23<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25>
+struct Types25 {
+ typedef T1 Head;
+ typedef Types24<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26>
+struct Types26 {
+ typedef T1 Head;
+ typedef Types25<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27>
+struct Types27 {
+ typedef T1 Head;
+ typedef Types26<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28>
+struct Types28 {
+ typedef T1 Head;
+ typedef Types27<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29>
+struct Types29 {
+ typedef T1 Head;
+ typedef Types28<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30>
+struct Types30 {
+ typedef T1 Head;
+ typedef Types29<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31>
+struct Types31 {
+ typedef T1 Head;
+ typedef Types30<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32>
+struct Types32 {
+ typedef T1 Head;
+ typedef Types31<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33>
+struct Types33 {
+ typedef T1 Head;
+ typedef Types32<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34>
+struct Types34 {
+ typedef T1 Head;
+ typedef Types33<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35>
+struct Types35 {
+ typedef T1 Head;
+ typedef Types34<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36>
+struct Types36 {
+ typedef T1 Head;
+ typedef Types35<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37>
+struct Types37 {
+ typedef T1 Head;
+ typedef Types36<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38>
+struct Types38 {
+ typedef T1 Head;
+ typedef Types37<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39>
+struct Types39 {
+ typedef T1 Head;
+ typedef Types38<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40>
+struct Types40 {
+ typedef T1 Head;
+ typedef Types39<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41>
+struct Types41 {
+ typedef T1 Head;
+ typedef Types40<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42>
+struct Types42 {
+ typedef T1 Head;
+ typedef Types41<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43>
+struct Types43 {
+ typedef T1 Head;
+ typedef Types42<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
+ T43> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44>
+struct Types44 {
+ typedef T1 Head;
+ typedef Types43<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ T44> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45>
+struct Types45 {
+ typedef T1 Head;
+ typedef Types44<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ T44, T45> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46>
+struct Types46 {
+ typedef T1 Head;
+ typedef Types45<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ T44, T45, T46> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46, typename T47>
+struct Types47 {
+ typedef T1 Head;
+ typedef Types46<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ T44, T45, T46, T47> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46, typename T47, typename T48>
+struct Types48 {
+ typedef T1 Head;
+ typedef Types47<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ T44, T45, T46, T47, T48> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46, typename T47, typename T48, typename T49>
+struct Types49 {
+ typedef T1 Head;
+ typedef Types48<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ T44, T45, T46, T47, T48, T49> Tail;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46, typename T47, typename T48, typename T49, typename T50>
+struct Types50 {
+ typedef T1 Head;
+ typedef Types49<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ T44, T45, T46, T47, T48, T49, T50> Tail;
+};
+
+
+} // namespace internal
+
+// We don't want to require the users to write TypesN<...> directly,
+// as that would require them to count the length. Types<...> is much
+// easier to write, but generates horrible messages when there is a
+// compiler error, as gcc insists on printing out each template
+// argument, even if it has the default value (this means Types<int>
+// will appear as Types<int, None, None, ..., None> in the compiler
+// errors).
+//
+// Our solution is to combine the best part of the two approaches: a
+// user would write Types<T1, ..., TN>, and Google Test will translate
+// that to TypesN<T1, ..., TN> internally to make error messages
+// readable. The translation is done by the 'type' member of the
+// Types template.
+template <typename T1 = internal::None, typename T2 = internal::None,
+ typename T3 = internal::None, typename T4 = internal::None,
+ typename T5 = internal::None, typename T6 = internal::None,
+ typename T7 = internal::None, typename T8 = internal::None,
+ typename T9 = internal::None, typename T10 = internal::None,
+ typename T11 = internal::None, typename T12 = internal::None,
+ typename T13 = internal::None, typename T14 = internal::None,
+ typename T15 = internal::None, typename T16 = internal::None,
+ typename T17 = internal::None, typename T18 = internal::None,
+ typename T19 = internal::None, typename T20 = internal::None,
+ typename T21 = internal::None, typename T22 = internal::None,
+ typename T23 = internal::None, typename T24 = internal::None,
+ typename T25 = internal::None, typename T26 = internal::None,
+ typename T27 = internal::None, typename T28 = internal::None,
+ typename T29 = internal::None, typename T30 = internal::None,
+ typename T31 = internal::None, typename T32 = internal::None,
+ typename T33 = internal::None, typename T34 = internal::None,
+ typename T35 = internal::None, typename T36 = internal::None,
+ typename T37 = internal::None, typename T38 = internal::None,
+ typename T39 = internal::None, typename T40 = internal::None,
+ typename T41 = internal::None, typename T42 = internal::None,
+ typename T43 = internal::None, typename T44 = internal::None,
+ typename T45 = internal::None, typename T46 = internal::None,
+ typename T47 = internal::None, typename T48 = internal::None,
+ typename T49 = internal::None, typename T50 = internal::None>
+struct Types {
+ typedef internal::Types50<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+ T41, T42, T43, T44, T45, T46, T47, T48, T49, T50> type;
+};
+
+template <>
+struct Types<internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None> {
+ typedef internal::Types0 type;
+};
+template <typename T1>
+struct Types<T1, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None> {
+ typedef internal::Types1<T1> type;
+};
+template <typename T1, typename T2>
+struct Types<T1, T2, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None> {
+ typedef internal::Types2<T1, T2> type;
+};
+template <typename T1, typename T2, typename T3>
+struct Types<T1, T2, T3, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None> {
+ typedef internal::Types3<T1, T2, T3> type;
+};
+template <typename T1, typename T2, typename T3, typename T4>
+struct Types<T1, T2, T3, T4, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None> {
+ typedef internal::Types4<T1, T2, T3, T4> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5>
+struct Types<T1, T2, T3, T4, T5, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None> {
+ typedef internal::Types5<T1, T2, T3, T4, T5> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6>
+struct Types<T1, T2, T3, T4, T5, T6, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None> {
+ typedef internal::Types6<T1, T2, T3, T4, T5, T6> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7>
+struct Types<T1, T2, T3, T4, T5, T6, T7, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None> {
+ typedef internal::Types7<T1, T2, T3, T4, T5, T6, T7> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None> {
+ typedef internal::Types8<T1, T2, T3, T4, T5, T6, T7, T8> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None> {
+ typedef internal::Types9<T1, T2, T3, T4, T5, T6, T7, T8, T9> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None> {
+ typedef internal::Types10<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None> {
+ typedef internal::Types11<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None> {
+ typedef internal::Types12<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None> {
+ typedef internal::Types13<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None> {
+ typedef internal::Types14<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None> {
+ typedef internal::Types15<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None> {
+ typedef internal::Types16<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None> {
+ typedef internal::Types17<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None> {
+ typedef internal::Types18<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None> {
+ typedef internal::Types19<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None> {
+ typedef internal::Types20<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None> {
+ typedef internal::Types21<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None> {
+ typedef internal::Types22<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None> {
+ typedef internal::Types23<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None> {
+ typedef internal::Types24<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None> {
+ typedef internal::Types25<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None> {
+ typedef internal::Types26<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None> {
+ typedef internal::Types27<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None> {
+ typedef internal::Types28<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None> {
+ typedef internal::Types29<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None> {
+ typedef internal::Types30<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None> {
+ typedef internal::Types31<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None> {
+ typedef internal::Types32<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None> {
+ typedef internal::Types33<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, T34, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None> {
+ typedef internal::Types34<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, T34, T35, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None> {
+ typedef internal::Types35<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, T34, T35, T36, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None> {
+ typedef internal::Types36<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35, T36> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, T34, T35, T36, T37, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None> {
+ typedef internal::Types37<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, T34, T35, T36, T37, T38, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None> {
+ typedef internal::Types38<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, T34, T35, T36, T37, T38, T39, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None> {
+ typedef internal::Types39<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None> {
+ typedef internal::Types40<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+ T40> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None, internal::None> {
+ typedef internal::Types41<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+ T41> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, internal::None,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None> {
+ typedef internal::Types42<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+ T41, T42> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None, internal::None> {
+ typedef internal::Types43<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+ T41, T42, T43> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None, internal::None> {
+ typedef internal::Types44<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+ T41, T42, T43, T44> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44, T45,
+ internal::None, internal::None, internal::None, internal::None,
+ internal::None> {
+ typedef internal::Types45<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+ T41, T42, T43, T44, T45> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44, T45,
+ T46, internal::None, internal::None, internal::None, internal::None> {
+ typedef internal::Types46<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+ T41, T42, T43, T44, T45, T46> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46, typename T47>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44, T45,
+ T46, T47, internal::None, internal::None, internal::None> {
+ typedef internal::Types47<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+ T41, T42, T43, T44, T45, T46, T47> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46, typename T47, typename T48>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44, T45,
+ T46, T47, T48, internal::None, internal::None> {
+ typedef internal::Types48<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+ T41, T42, T43, T44, T45, T46, T47, T48> type;
+};
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46, typename T47, typename T48, typename T49>
+struct Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15,
+ T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29, T30,
+ T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44, T45,
+ T46, T47, T48, T49, internal::None> {
+ typedef internal::Types49<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+ T41, T42, T43, T44, T45, T46, T47, T48, T49> type;
+};
+
+namespace internal {
+
+# define GTEST_TEMPLATE_ template <typename T> class
+
+// The template "selector" struct TemplateSel<Tmpl> is used to
+// represent Tmpl, which must be a class template with one type
+// parameter, as a type. TemplateSel<Tmpl>::Bind<T>::type is defined
+// as the type Tmpl<T>. This allows us to actually instantiate the
+// template "selected" by TemplateSel<Tmpl>.
+//
+// This trick is necessary for simulating typedef for class templates,
+// which C++ doesn't support directly.
+template <GTEST_TEMPLATE_ Tmpl>
+struct TemplateSel {
+ template <typename T>
+ struct Bind {
+ typedef Tmpl<T> type;
+ };
+};
+
+# define GTEST_BIND_(TmplSel, T) \
+ TmplSel::template Bind<T>::type
+
+// A unique struct template used as the default value for the
+// arguments of class template Templates. This allows us to simulate
+// variadic templates (e.g. Templates<int>, Templates<int, double>,
+// and etc), which C++ doesn't support directly.
+template <typename T>
+struct NoneT {};
+
+// The following family of struct and struct templates are used to
+// represent template lists. In particular, TemplatesN<T1, T2, ...,
+// TN> represents a list of N templates (T1, T2, ..., and TN). Except
+// for Templates0, every struct in the family has two member types:
+// Head for the selector of the first template in the list, and Tail
+// for the rest of the list.
+
+// The empty template list.
+struct Templates0 {};
+
+// Template lists of length 1, 2, 3, and so on.
+
+template <GTEST_TEMPLATE_ T1>
+struct Templates1 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates0 Tail;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2>
+struct Templates2 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates1<T2> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3>
+struct Templates3 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates2<T2, T3> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4>
+struct Templates4 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates3<T2, T3, T4> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5>
+struct Templates5 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates4<T2, T3, T4, T5> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6>
+struct Templates6 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates5<T2, T3, T4, T5, T6> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7>
+struct Templates7 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates6<T2, T3, T4, T5, T6, T7> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8>
+struct Templates8 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates7<T2, T3, T4, T5, T6, T7, T8> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9>
+struct Templates9 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates8<T2, T3, T4, T5, T6, T7, T8, T9> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10>
+struct Templates10 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates9<T2, T3, T4, T5, T6, T7, T8, T9, T10> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11>
+struct Templates11 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates10<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12>
+struct Templates12 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates11<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13>
+struct Templates13 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates12<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14>
+struct Templates14 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates13<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15>
+struct Templates15 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates14<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16>
+struct Templates16 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates15<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17>
+struct Templates17 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates16<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18>
+struct Templates18 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates17<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19>
+struct Templates19 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates18<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20>
+struct Templates20 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates19<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21>
+struct Templates21 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates20<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22>
+struct Templates22 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates21<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23>
+struct Templates23 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates22<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24>
+struct Templates24 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates23<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25>
+struct Templates25 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates24<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26>
+struct Templates26 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates25<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27>
+struct Templates27 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates26<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28>
+struct Templates28 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates27<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29>
+struct Templates29 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates28<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30>
+struct Templates30 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates29<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31>
+struct Templates31 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates30<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32>
+struct Templates32 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates31<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33>
+struct Templates33 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates32<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34>
+struct Templates34 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates33<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35>
+struct Templates35 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates34<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36>
+struct Templates36 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates35<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37>
+struct Templates37 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates36<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38>
+struct Templates38 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates37<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39>
+struct Templates39 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates38<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40>
+struct Templates40 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates39<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41>
+struct Templates41 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates40<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42>
+struct Templates42 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates41<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
+ T42> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+ GTEST_TEMPLATE_ T43>
+struct Templates43 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates42<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
+ T43> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+ GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44>
+struct Templates44 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates43<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
+ T43, T44> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+ GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45>
+struct Templates45 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates44<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
+ T43, T44, T45> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+ GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
+ GTEST_TEMPLATE_ T46>
+struct Templates46 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates45<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
+ T43, T44, T45, T46> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+ GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
+ GTEST_TEMPLATE_ T46, GTEST_TEMPLATE_ T47>
+struct Templates47 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates46<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
+ T43, T44, T45, T46, T47> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+ GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
+ GTEST_TEMPLATE_ T46, GTEST_TEMPLATE_ T47, GTEST_TEMPLATE_ T48>
+struct Templates48 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates47<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
+ T43, T44, T45, T46, T47, T48> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+ GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
+ GTEST_TEMPLATE_ T46, GTEST_TEMPLATE_ T47, GTEST_TEMPLATE_ T48,
+ GTEST_TEMPLATE_ T49>
+struct Templates49 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates48<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
+ T43, T44, T45, T46, T47, T48, T49> Tail;
+};
+
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+ GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
+ GTEST_TEMPLATE_ T46, GTEST_TEMPLATE_ T47, GTEST_TEMPLATE_ T48,
+ GTEST_TEMPLATE_ T49, GTEST_TEMPLATE_ T50>
+struct Templates50 {
+ typedef TemplateSel<T1> Head;
+ typedef Templates49<T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
+ T43, T44, T45, T46, T47, T48, T49, T50> Tail;
+};
+
+
+// We don't want to require the users to write TemplatesN<...> directly,
+// as that would require them to count the length. Templates<...> is much
+// easier to write, but generates horrible messages when there is a
+// compiler error, as gcc insists on printing out each template
+// argument, even if it has the default value (this means Templates<list>
+// will appear as Templates<list, NoneT, NoneT, ..., NoneT> in the compiler
+// errors).
+//
+// Our solution is to combine the best part of the two approaches: a
+// user would write Templates<T1, ..., TN>, and Google Test will translate
+// that to TemplatesN<T1, ..., TN> internally to make error messages
+// readable. The translation is done by the 'type' member of the
+// Templates template.
+template <GTEST_TEMPLATE_ T1 = NoneT, GTEST_TEMPLATE_ T2 = NoneT,
+ GTEST_TEMPLATE_ T3 = NoneT, GTEST_TEMPLATE_ T4 = NoneT,
+ GTEST_TEMPLATE_ T5 = NoneT, GTEST_TEMPLATE_ T6 = NoneT,
+ GTEST_TEMPLATE_ T7 = NoneT, GTEST_TEMPLATE_ T8 = NoneT,
+ GTEST_TEMPLATE_ T9 = NoneT, GTEST_TEMPLATE_ T10 = NoneT,
+ GTEST_TEMPLATE_ T11 = NoneT, GTEST_TEMPLATE_ T12 = NoneT,
+ GTEST_TEMPLATE_ T13 = NoneT, GTEST_TEMPLATE_ T14 = NoneT,
+ GTEST_TEMPLATE_ T15 = NoneT, GTEST_TEMPLATE_ T16 = NoneT,
+ GTEST_TEMPLATE_ T17 = NoneT, GTEST_TEMPLATE_ T18 = NoneT,
+ GTEST_TEMPLATE_ T19 = NoneT, GTEST_TEMPLATE_ T20 = NoneT,
+ GTEST_TEMPLATE_ T21 = NoneT, GTEST_TEMPLATE_ T22 = NoneT,
+ GTEST_TEMPLATE_ T23 = NoneT, GTEST_TEMPLATE_ T24 = NoneT,
+ GTEST_TEMPLATE_ T25 = NoneT, GTEST_TEMPLATE_ T26 = NoneT,
+ GTEST_TEMPLATE_ T27 = NoneT, GTEST_TEMPLATE_ T28 = NoneT,
+ GTEST_TEMPLATE_ T29 = NoneT, GTEST_TEMPLATE_ T30 = NoneT,
+ GTEST_TEMPLATE_ T31 = NoneT, GTEST_TEMPLATE_ T32 = NoneT,
+ GTEST_TEMPLATE_ T33 = NoneT, GTEST_TEMPLATE_ T34 = NoneT,
+ GTEST_TEMPLATE_ T35 = NoneT, GTEST_TEMPLATE_ T36 = NoneT,
+ GTEST_TEMPLATE_ T37 = NoneT, GTEST_TEMPLATE_ T38 = NoneT,
+ GTEST_TEMPLATE_ T39 = NoneT, GTEST_TEMPLATE_ T40 = NoneT,
+ GTEST_TEMPLATE_ T41 = NoneT, GTEST_TEMPLATE_ T42 = NoneT,
+ GTEST_TEMPLATE_ T43 = NoneT, GTEST_TEMPLATE_ T44 = NoneT,
+ GTEST_TEMPLATE_ T45 = NoneT, GTEST_TEMPLATE_ T46 = NoneT,
+ GTEST_TEMPLATE_ T47 = NoneT, GTEST_TEMPLATE_ T48 = NoneT,
+ GTEST_TEMPLATE_ T49 = NoneT, GTEST_TEMPLATE_ T50 = NoneT>
+struct Templates {
+ typedef Templates50<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
+ T42, T43, T44, T45, T46, T47, T48, T49, T50> type;
+};
+
+template <>
+struct Templates<NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT> {
+ typedef Templates0 type;
+};
+template <GTEST_TEMPLATE_ T1>
+struct Templates<T1, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT> {
+ typedef Templates1<T1> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2>
+struct Templates<T1, T2, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT> {
+ typedef Templates2<T1, T2> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3>
+struct Templates<T1, T2, T3, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates3<T1, T2, T3> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4>
+struct Templates<T1, T2, T3, T4, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates4<T1, T2, T3, T4> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5>
+struct Templates<T1, T2, T3, T4, T5, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates5<T1, T2, T3, T4, T5> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6>
+struct Templates<T1, T2, T3, T4, T5, T6, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates6<T1, T2, T3, T4, T5, T6> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates7<T1, T2, T3, T4, T5, T6, T7> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates8<T1, T2, T3, T4, T5, T6, T7, T8> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates9<T1, T2, T3, T4, T5, T6, T7, T8, T9> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates10<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates11<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates12<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates13<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates14<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates15<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates16<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates17<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates18<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates19<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates20<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates21<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT> {
+ typedef Templates22<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT> {
+ typedef Templates23<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT> {
+ typedef Templates24<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT> {
+ typedef Templates25<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT> {
+ typedef Templates26<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT> {
+ typedef Templates27<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT> {
+ typedef Templates28<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT> {
+ typedef Templates29<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates30<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates31<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates32<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates33<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates34<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates35<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34, T35> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates36<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34, T35, T36> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, NoneT, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates37<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34, T35, T36, T37> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, NoneT, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates38<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates39<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, NoneT, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates40<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, NoneT, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates41<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+ T41> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, NoneT,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates42<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
+ T42> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+ GTEST_TEMPLATE_ T43>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates43<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
+ T42, T43> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+ GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44,
+ NoneT, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates44<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
+ T42, T43, T44> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+ GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44,
+ T45, NoneT, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates45<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
+ T42, T43, T44, T45> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+ GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
+ GTEST_TEMPLATE_ T46>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44,
+ T45, T46, NoneT, NoneT, NoneT, NoneT> {
+ typedef Templates46<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
+ T42, T43, T44, T45, T46> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+ GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
+ GTEST_TEMPLATE_ T46, GTEST_TEMPLATE_ T47>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44,
+ T45, T46, T47, NoneT, NoneT, NoneT> {
+ typedef Templates47<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
+ T42, T43, T44, T45, T46, T47> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+ GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
+ GTEST_TEMPLATE_ T46, GTEST_TEMPLATE_ T47, GTEST_TEMPLATE_ T48>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44,
+ T45, T46, T47, T48, NoneT, NoneT> {
+ typedef Templates48<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
+ T42, T43, T44, T45, T46, T47, T48> type;
+};
+template <GTEST_TEMPLATE_ T1, GTEST_TEMPLATE_ T2, GTEST_TEMPLATE_ T3,
+ GTEST_TEMPLATE_ T4, GTEST_TEMPLATE_ T5, GTEST_TEMPLATE_ T6,
+ GTEST_TEMPLATE_ T7, GTEST_TEMPLATE_ T8, GTEST_TEMPLATE_ T9,
+ GTEST_TEMPLATE_ T10, GTEST_TEMPLATE_ T11, GTEST_TEMPLATE_ T12,
+ GTEST_TEMPLATE_ T13, GTEST_TEMPLATE_ T14, GTEST_TEMPLATE_ T15,
+ GTEST_TEMPLATE_ T16, GTEST_TEMPLATE_ T17, GTEST_TEMPLATE_ T18,
+ GTEST_TEMPLATE_ T19, GTEST_TEMPLATE_ T20, GTEST_TEMPLATE_ T21,
+ GTEST_TEMPLATE_ T22, GTEST_TEMPLATE_ T23, GTEST_TEMPLATE_ T24,
+ GTEST_TEMPLATE_ T25, GTEST_TEMPLATE_ T26, GTEST_TEMPLATE_ T27,
+ GTEST_TEMPLATE_ T28, GTEST_TEMPLATE_ T29, GTEST_TEMPLATE_ T30,
+ GTEST_TEMPLATE_ T31, GTEST_TEMPLATE_ T32, GTEST_TEMPLATE_ T33,
+ GTEST_TEMPLATE_ T34, GTEST_TEMPLATE_ T35, GTEST_TEMPLATE_ T36,
+ GTEST_TEMPLATE_ T37, GTEST_TEMPLATE_ T38, GTEST_TEMPLATE_ T39,
+ GTEST_TEMPLATE_ T40, GTEST_TEMPLATE_ T41, GTEST_TEMPLATE_ T42,
+ GTEST_TEMPLATE_ T43, GTEST_TEMPLATE_ T44, GTEST_TEMPLATE_ T45,
+ GTEST_TEMPLATE_ T46, GTEST_TEMPLATE_ T47, GTEST_TEMPLATE_ T48,
+ GTEST_TEMPLATE_ T49>
+struct Templates<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14,
+ T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29,
+ T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43, T44,
+ T45, T46, T47, T48, T49, NoneT> {
+ typedef Templates49<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
+ T42, T43, T44, T45, T46, T47, T48, T49> type;
+};
+
+// The TypeList template makes it possible to use either a single type
+// or a Types<...> list in TYPED_TEST_CASE() and
+// INSTANTIATE_TYPED_TEST_CASE_P().
+
+template <typename T>
+struct TypeList { typedef Types1<T> type; };
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46, typename T47, typename T48, typename T49, typename T50>
+struct TypeList<Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ T44, T45, T46, T47, T48, T49, T50> > {
+ typedef typename Types<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+ T41, T42, T43, T44, T45, T46, T47, T48, T49, T50>::type type;
+};
+
+#endif // GTEST_HAS_TYPED_TEST || GTEST_HAS_TYPED_TEST_P
+
+} // namespace internal
+} // namespace testing
+
+#endif // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_TYPE_UTIL_H_
+
+// Due to C++ preprocessor weirdness, we need double indirection to
+// concatenate two tokens when one of them is __LINE__. Writing
+//
+// foo ## __LINE__
+//
+// will result in the token foo__LINE__, instead of foo followed by
+// the current line number. For more details, see
+// http://www.parashift.com/c++-faq-lite/misc-technical-issues.html#faq-39.6
+#define GTEST_CONCAT_TOKEN_(foo, bar) GTEST_CONCAT_TOKEN_IMPL_(foo, bar)
+#define GTEST_CONCAT_TOKEN_IMPL_(foo, bar) foo ## bar
+
+// Google Test defines the testing::Message class to allow construction of
+// test messages via the << operator. The idea is that anything
+// streamable to std::ostream can be streamed to a testing::Message.
+// This allows a user to use his own types in Google Test assertions by
+// overloading the << operator.
+//
+// util/gtl/stl_logging-inl.h overloads << for STL containers. These
+// overloads cannot be defined in the std namespace, as that will be
+// undefined behavior. Therefore, they are defined in the global
+// namespace instead.
+//
+// C++'s symbol lookup rule (i.e. Koenig lookup) says that these
+// overloads are visible in either the std namespace or the global
+// namespace, but not other namespaces, including the testing
+// namespace which Google Test's Message class is in.
+//
+// To allow STL containers (and other types that has a << operator
+// defined in the global namespace) to be used in Google Test assertions,
+// testing::Message must access the custom << operator from the global
+// namespace. Hence this helper function.
+//
+// Note: Jeffrey Yasskin suggested an alternative fix by "using
+// ::operator<<;" in the definition of Message's operator<<. That fix
+// doesn't require a helper function, but unfortunately doesn't
+// compile with MSVC.
+template <typename T>
+inline void GTestStreamToHelper(std::ostream* os, const T& val) {
+ *os << val;
+}
+
+class ProtocolMessage;
+namespace proto2 { class Message; }
+
+namespace testing {
+
+// Forward declarations.
+
+class AssertionResult; // Result of an assertion.
+class Message; // Represents a failure message.
+class Test; // Represents a test.
+class TestInfo; // Information about a test.
+class TestPartResult; // Result of a test part.
+class UnitTest; // A collection of test cases.
+
+template <typename T>
+::std::string PrintToString(const T& value);
+
+namespace internal {
+
+struct TraceInfo; // Information about a trace point.
+class ScopedTrace; // Implements scoped trace.
+class TestInfoImpl; // Opaque implementation of TestInfo
+class UnitTestImpl; // Opaque implementation of UnitTest
+
+// How many times InitGoogleTest() has been called.
+extern int g_init_gtest_count;
+
+// The text used in failure messages to indicate the start of the
+// stack trace.
+GTEST_API_ extern const char kStackTraceMarker[];
+
+// A secret type that Google Test users don't know about. It has no
+// definition on purpose. Therefore it's impossible to create a
+// Secret object, which is what we want.
+class Secret;
+
+// Two overloaded helpers for checking at compile time whether an
+// expression is a null pointer literal (i.e. NULL or any 0-valued
+// compile-time integral constant). Their return values have
+// different sizes, so we can use sizeof() to test which version is
+// picked by the compiler. These helpers have no implementations, as
+// we only need their signatures.
+//
+// Given IsNullLiteralHelper(x), the compiler will pick the first
+// version if x can be implicitly converted to Secret*, and pick the
+// second version otherwise. Since Secret is a secret and incomplete
+// type, the only expression a user can write that has type Secret* is
+// a null pointer literal. Therefore, we know that x is a null
+// pointer literal if and only if the first version is picked by the
+// compiler.
+char IsNullLiteralHelper(Secret* p);
+char (&IsNullLiteralHelper(...))[2]; // NOLINT
+
+// A compile-time bool constant that is true if and only if x is a
+// null pointer literal (i.e. NULL or any 0-valued compile-time
+// integral constant).
+#ifdef GTEST_ELLIPSIS_NEEDS_POD_
+// We lose support for NULL detection where the compiler doesn't like
+// passing non-POD classes through ellipsis (...).
+# define GTEST_IS_NULL_LITERAL_(x) false
+#else
+# define GTEST_IS_NULL_LITERAL_(x) \
+ (sizeof(::testing::internal::IsNullLiteralHelper(x)) == 1)
+#endif // GTEST_ELLIPSIS_NEEDS_POD_
+
+// Appends the user-supplied message to the Google-Test-generated message.
+GTEST_API_ String AppendUserMessage(const String& gtest_msg,
+ const Message& user_msg);
+
+// A helper class for creating scoped traces in user programs.
+class GTEST_API_ ScopedTrace {
+ public:
+ // The c'tor pushes the given source file location and message onto
+ // a trace stack maintained by Google Test.
+ ScopedTrace(const char* file, int line, const Message& message);
+
+ // The d'tor pops the info pushed by the c'tor.
+ //
+ // Note that the d'tor is not virtual in order to be efficient.
+ // Don't inherit from ScopedTrace!
+ ~ScopedTrace();
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(ScopedTrace);
+} GTEST_ATTRIBUTE_UNUSED_; // A ScopedTrace object does its job in its
+ // c'tor and d'tor. Therefore it doesn't
+ // need to be used otherwise.
+
+// Converts a streamable value to a String. A NULL pointer is
+// converted to "(null)". When the input value is a ::string,
+// ::std::string, ::wstring, or ::std::wstring object, each NUL
+// character in it is replaced with "\\0".
+// Declared here but defined in gtest.h, so that it has access
+// to the definition of the Message class, required by the ARM
+// compiler.
+template <typename T>
+String StreamableToString(const T& streamable);
+
+// The Symbian compiler has a bug that prevents it from selecting the
+// correct overload of FormatForComparisonFailureMessage (see below)
+// unless we pass the first argument by reference. If we do that,
+// however, Visual Age C++ 10.1 generates a compiler error. Therefore
+// we only apply the work-around for Symbian.
+#if defined(__SYMBIAN32__)
+# define GTEST_CREF_WORKAROUND_ const&
+#else
+# define GTEST_CREF_WORKAROUND_
+#endif
+
+// When this operand is a const char* or char*, if the other operand
+// is a ::std::string or ::string, we print this operand as a C string
+// rather than a pointer (we do the same for wide strings); otherwise
+// we print it as a pointer to be safe.
+
+// This internal macro is used to avoid duplicated code.
+#define GTEST_FORMAT_IMPL_(operand2_type, operand1_printer)\
+inline String FormatForComparisonFailureMessage(\
+ operand2_type::value_type* GTEST_CREF_WORKAROUND_ str, \
+ const operand2_type& /*operand2*/) {\
+ return operand1_printer(str);\
+}\
+inline String FormatForComparisonFailureMessage(\
+ const operand2_type::value_type* GTEST_CREF_WORKAROUND_ str, \
+ const operand2_type& /*operand2*/) {\
+ return operand1_printer(str);\
+}
+
+GTEST_FORMAT_IMPL_(::std::string, String::ShowCStringQuoted)
+#if GTEST_HAS_STD_WSTRING
+GTEST_FORMAT_IMPL_(::std::wstring, String::ShowWideCStringQuoted)
+#endif // GTEST_HAS_STD_WSTRING
+
+#if GTEST_HAS_GLOBAL_STRING
+GTEST_FORMAT_IMPL_(::string, String::ShowCStringQuoted)
+#endif // GTEST_HAS_GLOBAL_STRING
+#if GTEST_HAS_GLOBAL_WSTRING
+GTEST_FORMAT_IMPL_(::wstring, String::ShowWideCStringQuoted)
+#endif // GTEST_HAS_GLOBAL_WSTRING
+
+#undef GTEST_FORMAT_IMPL_
+
+// The next four overloads handle the case where the operand being
+// printed is a char/wchar_t pointer and the other operand is not a
+// string/wstring object. In such cases, we just print the operand as
+// a pointer to be safe.
+#define GTEST_FORMAT_CHAR_PTR_IMPL_(CharType) \
+ template <typename T> \
+ String FormatForComparisonFailureMessage(CharType* GTEST_CREF_WORKAROUND_ p, \
+ const T&) { \
+ return PrintToString(static_cast<const void*>(p)); \
+ }
+
+GTEST_FORMAT_CHAR_PTR_IMPL_(char)
+GTEST_FORMAT_CHAR_PTR_IMPL_(const char)
+GTEST_FORMAT_CHAR_PTR_IMPL_(wchar_t)
+GTEST_FORMAT_CHAR_PTR_IMPL_(const wchar_t)
+
+#undef GTEST_FORMAT_CHAR_PTR_IMPL_
+
+// Constructs and returns the message for an equality assertion
+// (e.g. ASSERT_EQ, EXPECT_STREQ, etc) failure.
+//
+// The first four parameters are the expressions used in the assertion
+// and their values, as strings. For example, for ASSERT_EQ(foo, bar)
+// where foo is 5 and bar is 6, we have:
+//
+// expected_expression: "foo"
+// actual_expression: "bar"
+// expected_value: "5"
+// actual_value: "6"
+//
+// The ignoring_case parameter is true iff the assertion is a
+// *_STRCASEEQ*. When it's true, the string " (ignoring case)" will
+// be inserted into the message.
+GTEST_API_ AssertionResult EqFailure(const char* expected_expression,
+ const char* actual_expression,
+ const String& expected_value,
+ const String& actual_value,
+ bool ignoring_case);
+
+// Constructs a failure message for Boolean assertions such as EXPECT_TRUE.
+GTEST_API_ String GetBoolAssertionFailureMessage(
+ const AssertionResult& assertion_result,
+ const char* expression_text,
+ const char* actual_predicate_value,
+ const char* expected_predicate_value);
+
+// This template class represents an IEEE floating-point number
+// (either single-precision or double-precision, depending on the
+// template parameters).
+//
+// The purpose of this class is to do more sophisticated number
+// comparison. (Due to round-off error, etc, it's very unlikely that
+// two floating-points will be equal exactly. Hence a naive
+// comparison by the == operation often doesn't work.)
+//
+// Format of IEEE floating-point:
+//
+// The most-significant bit being the leftmost, an IEEE
+// floating-point looks like
+//
+// sign_bit exponent_bits fraction_bits
+//
+// Here, sign_bit is a single bit that designates the sign of the
+// number.
+//
+// For float, there are 8 exponent bits and 23 fraction bits.
+//
+// For double, there are 11 exponent bits and 52 fraction bits.
+//
+// More details can be found at
+// http://en.wikipedia.org/wiki/IEEE_floating-point_standard.
+//
+// Template parameter:
+//
+// RawType: the raw floating-point type (either float or double)
+template <typename RawType>
+class FloatingPoint {
+ public:
+ // Defines the unsigned integer type that has the same size as the
+ // floating point number.
+ typedef typename TypeWithSize<sizeof(RawType)>::UInt Bits;
+
+ // Constants.
+
+ // # of bits in a number.
+ static const size_t kBitCount = 8*sizeof(RawType);
+
+ // # of fraction bits in a number.
+ static const size_t kFractionBitCount =
+ std::numeric_limits<RawType>::digits - 1;
+
+ // # of exponent bits in a number.
+ static const size_t kExponentBitCount = kBitCount - 1 - kFractionBitCount;
+
+ // The mask for the sign bit.
+ static const Bits kSignBitMask = static_cast<Bits>(1) << (kBitCount - 1);
+
+ // The mask for the fraction bits.
+ static const Bits kFractionBitMask =
+ ~static_cast<Bits>(0) >> (kExponentBitCount + 1);
+
+ // The mask for the exponent bits.
+ static const Bits kExponentBitMask = ~(kSignBitMask | kFractionBitMask);
+
+ // How many ULP's (Units in the Last Place) we want to tolerate when
+ // comparing two numbers. The larger the value, the more error we
+ // allow. A 0 value means that two numbers must be exactly the same
+ // to be considered equal.
+ //
+ // The maximum error of a single floating-point operation is 0.5
+ // units in the last place. On Intel CPU's, all floating-point
+ // calculations are done with 80-bit precision, while double has 64
+ // bits. Therefore, 4 should be enough for ordinary use.
+ //
+ // See the following article for more details on ULP:
+ // http://www.cygnus-software.com/papers/comparingfloats/comparingfloats.htm.
+ static const size_t kMaxUlps = 4;
+
+ // Constructs a FloatingPoint from a raw floating-point number.
+ //
+ // On an Intel CPU, passing a non-normalized NAN (Not a Number)
+ // around may change its bits, although the new value is guaranteed
+ // to be also a NAN. Therefore, don't expect this constructor to
+ // preserve the bits in x when x is a NAN.
+ explicit FloatingPoint(const RawType& x) { u_.value_ = x; }
+
+ // Static methods
+
+ // Reinterprets a bit pattern as a floating-point number.
+ //
+ // This function is needed to test the AlmostEquals() method.
+ static RawType ReinterpretBits(const Bits bits) {
+ FloatingPoint fp(0);
+ fp.u_.bits_ = bits;
+ return fp.u_.value_;
+ }
+
+ // Returns the floating-point number that represent positive infinity.
+ static RawType Infinity() {
+ return ReinterpretBits(kExponentBitMask);
+ }
+
+ // Non-static methods
+
+ // Returns the bits that represents this number.
+ const Bits &bits() const { return u_.bits_; }
+
+ // Returns the exponent bits of this number.
+ Bits exponent_bits() const { return kExponentBitMask & u_.bits_; }
+
+ // Returns the fraction bits of this number.
+ Bits fraction_bits() const { return kFractionBitMask & u_.bits_; }
+
+ // Returns the sign bit of this number.
+ Bits sign_bit() const { return kSignBitMask & u_.bits_; }
+
+ // Returns true iff this is NAN (not a number).
+ bool is_nan() const {
+ // It's a NAN if the exponent bits are all ones and the fraction
+ // bits are not entirely zeros.
+ return (exponent_bits() == kExponentBitMask) && (fraction_bits() != 0);
+ }
+
+ // Returns true iff this number is at most kMaxUlps ULP's away from
+ // rhs. In particular, this function:
+ //
+ // - returns false if either number is (or both are) NAN.
+ // - treats really large numbers as almost equal to infinity.
+ // - thinks +0.0 and -0.0 are 0 DLP's apart.
+ bool AlmostEquals(const FloatingPoint& rhs) const {
+ // The IEEE standard says that any comparison operation involving
+ // a NAN must return false.
+ if (is_nan() || rhs.is_nan()) return false;
+
+ return DistanceBetweenSignAndMagnitudeNumbers(u_.bits_, rhs.u_.bits_)
+ <= kMaxUlps;
+ }
+
+ private:
+ // The data type used to store the actual floating-point number.
+ union FloatingPointUnion {
+ RawType value_; // The raw floating-point number.
+ Bits bits_; // The bits that represent the number.
+ };
+
+ // Converts an integer from the sign-and-magnitude representation to
+ // the biased representation. More precisely, let N be 2 to the
+ // power of (kBitCount - 1), an integer x is represented by the
+ // unsigned number x + N.
+ //
+ // For instance,
+ //
+ // -N + 1 (the most negative number representable using
+ // sign-and-magnitude) is represented by 1;
+ // 0 is represented by N; and
+ // N - 1 (the biggest number representable using
+ // sign-and-magnitude) is represented by 2N - 1.
+ //
+ // Read http://en.wikipedia.org/wiki/Signed_number_representations
+ // for more details on signed number representations.
+ static Bits SignAndMagnitudeToBiased(const Bits &sam) {
+ if (kSignBitMask & sam) {
+ // sam represents a negative number.
+ return ~sam + 1;
+ } else {
+ // sam represents a positive number.
+ return kSignBitMask | sam;
+ }
+ }
+
+ // Given two numbers in the sign-and-magnitude representation,
+ // returns the distance between them as an unsigned number.
+ static Bits DistanceBetweenSignAndMagnitudeNumbers(const Bits &sam1,
+ const Bits &sam2) {
+ const Bits biased1 = SignAndMagnitudeToBiased(sam1);
+ const Bits biased2 = SignAndMagnitudeToBiased(sam2);
+ return (biased1 >= biased2) ? (biased1 - biased2) : (biased2 - biased1);
+ }
+
+ FloatingPointUnion u_;
+};
+
+// Typedefs the instances of the FloatingPoint template class that we
+// care to use.
+typedef FloatingPoint<float> Float;
+typedef FloatingPoint<double> Double;
+
+// In order to catch the mistake of putting tests that use different
+// test fixture classes in the same test case, we need to assign
+// unique IDs to fixture classes and compare them. The TypeId type is
+// used to hold such IDs. The user should treat TypeId as an opaque
+// type: the only operation allowed on TypeId values is to compare
+// them for equality using the == operator.
+typedef const void* TypeId;
+
+template <typename T>
+class TypeIdHelper {
+ public:
+ // dummy_ must not have a const type. Otherwise an overly eager
+ // compiler (e.g. MSVC 7.1 & 8.0) may try to merge
+ // TypeIdHelper<T>::dummy_ for different Ts as an "optimization".
+ static bool dummy_;
+};
+
+template <typename T>
+bool TypeIdHelper<T>::dummy_ = false;
+
+// GetTypeId<T>() returns the ID of type T. Different values will be
+// returned for different types. Calling the function twice with the
+// same type argument is guaranteed to return the same ID.
+template <typename T>
+TypeId GetTypeId() {
+ // The compiler is required to allocate a different
+ // TypeIdHelper<T>::dummy_ variable for each T used to instantiate
+ // the template. Therefore, the address of dummy_ is guaranteed to
+ // be unique.
+ return &(TypeIdHelper<T>::dummy_);
+}
+
+// Returns the type ID of ::testing::Test. Always call this instead
+// of GetTypeId< ::testing::Test>() to get the type ID of
+// ::testing::Test, as the latter may give the wrong result due to a
+// suspected linker bug when compiling Google Test as a Mac OS X
+// framework.
+GTEST_API_ TypeId GetTestTypeId();
+
+// Defines the abstract factory interface that creates instances
+// of a Test object.
+class TestFactoryBase {
+ public:
+ virtual ~TestFactoryBase() {}
+
+ // Creates a test instance to run. The instance is both created and destroyed
+ // within TestInfoImpl::Run()
+ virtual Test* CreateTest() = 0;
+
+ protected:
+ TestFactoryBase() {}
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(TestFactoryBase);
+};
+
+// This class provides implementation of TeastFactoryBase interface.
+// It is used in TEST and TEST_F macros.
+template <class TestClass>
+class TestFactoryImpl : public TestFactoryBase {
+ public:
+ virtual Test* CreateTest() { return new TestClass; }
+};
+
+#if GTEST_OS_WINDOWS
+
+// Predicate-formatters for implementing the HRESULT checking macros
+// {ASSERT|EXPECT}_HRESULT_{SUCCEEDED|FAILED}
+// We pass a long instead of HRESULT to avoid causing an
+// include dependency for the HRESULT type.
+GTEST_API_ AssertionResult IsHRESULTSuccess(const char* expr,
+ long hr); // NOLINT
+GTEST_API_ AssertionResult IsHRESULTFailure(const char* expr,
+ long hr); // NOLINT
+
+#endif // GTEST_OS_WINDOWS
+
+// Types of SetUpTestCase() and TearDownTestCase() functions.
+typedef void (*SetUpTestCaseFunc)();
+typedef void (*TearDownTestCaseFunc)();
+
+// Creates a new TestInfo object and registers it with Google Test;
+// returns the created object.
+//
+// Arguments:
+//
+// test_case_name: name of the test case
+// name: name of the test
+// type_param the name of the test's type parameter, or NULL if
+// this is not a typed or a type-parameterized test.
+// value_param text representation of the test's value parameter,
+// or NULL if this is not a type-parameterized test.
+// fixture_class_id: ID of the test fixture class
+// set_up_tc: pointer to the function that sets up the test case
+// tear_down_tc: pointer to the function that tears down the test case
+// factory: pointer to the factory that creates a test object.
+// The newly created TestInfo instance will assume
+// ownership of the factory object.
+GTEST_API_ TestInfo* MakeAndRegisterTestInfo(
+ const char* test_case_name, const char* name,
+ const char* type_param,
+ const char* value_param,
+ TypeId fixture_class_id,
+ SetUpTestCaseFunc set_up_tc,
+ TearDownTestCaseFunc tear_down_tc,
+ TestFactoryBase* factory);
+
+// If *pstr starts with the given prefix, modifies *pstr to be right
+// past the prefix and returns true; otherwise leaves *pstr unchanged
+// and returns false. None of pstr, *pstr, and prefix can be NULL.
+GTEST_API_ bool SkipPrefix(const char* prefix, const char** pstr);
+
+#if GTEST_HAS_TYPED_TEST || GTEST_HAS_TYPED_TEST_P
+
+// State of the definition of a type-parameterized test case.
+class GTEST_API_ TypedTestCasePState {
+ public:
+ TypedTestCasePState() : registered_(false) {}
+
+ // Adds the given test name to defined_test_names_ and return true
+ // if the test case hasn't been registered; otherwise aborts the
+ // program.
+ bool AddTestName(const char* file, int line, const char* case_name,
+ const char* test_name) {
+ if (registered_) {
+ fprintf(stderr, "%s Test %s must be defined before "
+ "REGISTER_TYPED_TEST_CASE_P(%s, ...).\n",
+ FormatFileLocation(file, line).c_str(), test_name, case_name);
+ fflush(stderr);
+ posix::Abort();
+ }
+ defined_test_names_.insert(test_name);
+ return true;
+ }
+
+ // Verifies that registered_tests match the test names in
+ // defined_test_names_; returns registered_tests if successful, or
+ // aborts the program otherwise.
+ const char* VerifyRegisteredTestNames(
+ const char* file, int line, const char* registered_tests);
+
+ private:
+ bool registered_;
+ ::std::set<const char*> defined_test_names_;
+};
+
+// Skips to the first non-space char after the first comma in 'str';
+// returns NULL if no comma is found in 'str'.
+inline const char* SkipComma(const char* str) {
+ const char* comma = strchr(str, ',');
+ if (comma == NULL) {
+ return NULL;
+ }
+ while (IsSpace(*(++comma))) {}
+ return comma;
+}
+
+// Returns the prefix of 'str' before the first comma in it; returns
+// the entire string if it contains no comma.
+inline String GetPrefixUntilComma(const char* str) {
+ const char* comma = strchr(str, ',');
+ return comma == NULL ? String(str) : String(str, comma - str);
+}
+
+// TypeParameterizedTest<Fixture, TestSel, Types>::Register()
+// registers a list of type-parameterized tests with Google Test. The
+// return value is insignificant - we just need to return something
+// such that we can call this function in a namespace scope.
+//
+// Implementation note: The GTEST_TEMPLATE_ macro declares a template
+// template parameter. It's defined in gtest-type-util.h.
+template <GTEST_TEMPLATE_ Fixture, class TestSel, typename Types>
+class TypeParameterizedTest {
+ public:
+ // 'index' is the index of the test in the type list 'Types'
+ // specified in INSTANTIATE_TYPED_TEST_CASE_P(Prefix, TestCase,
+ // Types). Valid values for 'index' are [0, N - 1] where N is the
+ // length of Types.
+ static bool Register(const char* prefix, const char* case_name,
+ const char* test_names, int index) {
+ typedef typename Types::Head Type;
+ typedef Fixture<Type> FixtureClass;
+ typedef typename GTEST_BIND_(TestSel, Type) TestClass;
+
+ // First, registers the first type-parameterized test in the type
+ // list.
+ MakeAndRegisterTestInfo(
+ String::Format("%s%s%s/%d", prefix, prefix[0] == '\0' ? "" : "/",
+ case_name, index).c_str(),
+ GetPrefixUntilComma(test_names).c_str(),
+ GetTypeName<Type>().c_str(),
+ NULL, // No value parameter.
+ GetTypeId<FixtureClass>(),
+ TestClass::SetUpTestCase,
+ TestClass::TearDownTestCase,
+ new TestFactoryImpl<TestClass>);
+
+ // Next, recurses (at compile time) with the tail of the type list.
+ return TypeParameterizedTest<Fixture, TestSel, typename Types::Tail>
+ ::Register(prefix, case_name, test_names, index + 1);
+ }
+};
+
+// The base case for the compile time recursion.
+template <GTEST_TEMPLATE_ Fixture, class TestSel>
+class TypeParameterizedTest<Fixture, TestSel, Types0> {
+ public:
+ static bool Register(const char* /*prefix*/, const char* /*case_name*/,
+ const char* /*test_names*/, int /*index*/) {
+ return true;
+ }
+};
+
+// TypeParameterizedTestCase<Fixture, Tests, Types>::Register()
+// registers *all combinations* of 'Tests' and 'Types' with Google
+// Test. The return value is insignificant - we just need to return
+// something such that we can call this function in a namespace scope.
+template <GTEST_TEMPLATE_ Fixture, typename Tests, typename Types>
+class TypeParameterizedTestCase {
+ public:
+ static bool Register(const char* prefix, const char* case_name,
+ const char* test_names) {
+ typedef typename Tests::Head Head;
+
+ // First, register the first test in 'Test' for each type in 'Types'.
+ TypeParameterizedTest<Fixture, Head, Types>::Register(
+ prefix, case_name, test_names, 0);
+
+ // Next, recurses (at compile time) with the tail of the test list.
+ return TypeParameterizedTestCase<Fixture, typename Tests::Tail, Types>
+ ::Register(prefix, case_name, SkipComma(test_names));
+ }
+};
+
+// The base case for the compile time recursion.
+template <GTEST_TEMPLATE_ Fixture, typename Types>
+class TypeParameterizedTestCase<Fixture, Templates0, Types> {
+ public:
+ static bool Register(const char* /*prefix*/, const char* /*case_name*/,
+ const char* /*test_names*/) {
+ return true;
+ }
+};
+
+#endif // GTEST_HAS_TYPED_TEST || GTEST_HAS_TYPED_TEST_P
+
+// Returns the current OS stack trace as a String.
+//
+// The maximum number of stack frames to be included is specified by
+// the gtest_stack_trace_depth flag. The skip_count parameter
+// specifies the number of top frames to be skipped, which doesn't
+// count against the number of frames to be included.
+//
+// For example, if Foo() calls Bar(), which in turn calls
+// GetCurrentOsStackTraceExceptTop(..., 1), Foo() will be included in
+// the trace but Bar() and GetCurrentOsStackTraceExceptTop() won't.
+GTEST_API_ String GetCurrentOsStackTraceExceptTop(UnitTest* unit_test,
+ int skip_count);
+
+// Helpers for suppressing warnings on unreachable code or constant
+// condition.
+
+// Always returns true.
+GTEST_API_ bool AlwaysTrue();
+
+// Always returns false.
+inline bool AlwaysFalse() { return !AlwaysTrue(); }
+
+// Helper for suppressing false warning from Clang on a const char*
+// variable declared in a conditional expression always being NULL in
+// the else branch.
+struct GTEST_API_ ConstCharPtr {
+ ConstCharPtr(const char* str) : value(str) {}
+ operator bool() const { return true; }
+ const char* value;
+};
+
+// A simple Linear Congruential Generator for generating random
+// numbers with a uniform distribution. Unlike rand() and srand(), it
+// doesn't use global state (and therefore can't interfere with user
+// code). Unlike rand_r(), it's portable. An LCG isn't very random,
+// but it's good enough for our purposes.
+class GTEST_API_ Random {
+ public:
+ static const UInt32 kMaxRange = 1u << 31;
+
+ explicit Random(UInt32 seed) : state_(seed) {}
+
+ void Reseed(UInt32 seed) { state_ = seed; }
+
+ // Generates a random number from [0, range). Crashes if 'range' is
+ // 0 or greater than kMaxRange.
+ UInt32 Generate(UInt32 range);
+
+ private:
+ UInt32 state_;
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(Random);
+};
+
+// Defining a variable of type CompileAssertTypesEqual<T1, T2> will cause a
+// compiler error iff T1 and T2 are different types.
+template <typename T1, typename T2>
+struct CompileAssertTypesEqual;
+
+template <typename T>
+struct CompileAssertTypesEqual<T, T> {
+};
+
+// Removes the reference from a type if it is a reference type,
+// otherwise leaves it unchanged. This is the same as
+// tr1::remove_reference, which is not widely available yet.
+template <typename T>
+struct RemoveReference { typedef T type; }; // NOLINT
+template <typename T>
+struct RemoveReference<T&> { typedef T type; }; // NOLINT
+
+// A handy wrapper around RemoveReference that works when the argument
+// T depends on template parameters.
+#define GTEST_REMOVE_REFERENCE_(T) \
+ typename ::testing::internal::RemoveReference<T>::type
+
+// Removes const from a type if it is a const type, otherwise leaves
+// it unchanged. This is the same as tr1::remove_const, which is not
+// widely available yet.
+template <typename T>
+struct RemoveConst { typedef T type; }; // NOLINT
+template <typename T>
+struct RemoveConst<const T> { typedef T type; }; // NOLINT
+
+// MSVC 8.0, Sun C++, and IBM XL C++ have a bug which causes the above
+// definition to fail to remove the const in 'const int[3]' and 'const
+// char[3][4]'. The following specialization works around the bug.
+// However, it causes trouble with GCC and thus needs to be
+// conditionally compiled.
+#if defined(_MSC_VER) || defined(__SUNPRO_CC) || defined(__IBMCPP__)
+template <typename T, size_t N>
+struct RemoveConst<const T[N]> {
+ typedef typename RemoveConst<T>::type type[N];
+};
+#endif
+
+// A handy wrapper around RemoveConst that works when the argument
+// T depends on template parameters.
+#define GTEST_REMOVE_CONST_(T) \
+ typename ::testing::internal::RemoveConst<T>::type
+
+// Turns const U&, U&, const U, and U all into U.
+#define GTEST_REMOVE_REFERENCE_AND_CONST_(T) \
+ GTEST_REMOVE_CONST_(GTEST_REMOVE_REFERENCE_(T))
+
+// Adds reference to a type if it is not a reference type,
+// otherwise leaves it unchanged. This is the same as
+// tr1::add_reference, which is not widely available yet.
+template <typename T>
+struct AddReference { typedef T& type; }; // NOLINT
+template <typename T>
+struct AddReference<T&> { typedef T& type; }; // NOLINT
+
+// A handy wrapper around AddReference that works when the argument T
+// depends on template parameters.
+#define GTEST_ADD_REFERENCE_(T) \
+ typename ::testing::internal::AddReference<T>::type
+
+// Adds a reference to const on top of T as necessary. For example,
+// it transforms
+//
+// char ==> const char&
+// const char ==> const char&
+// char& ==> const char&
+// const char& ==> const char&
+//
+// The argument T must depend on some template parameters.
+#define GTEST_REFERENCE_TO_CONST_(T) \
+ GTEST_ADD_REFERENCE_(const GTEST_REMOVE_REFERENCE_(T))
+
+// ImplicitlyConvertible<From, To>::value is a compile-time bool
+// constant that's true iff type From can be implicitly converted to
+// type To.
+template <typename From, typename To>
+class ImplicitlyConvertible {
+ private:
+ // We need the following helper functions only for their types.
+ // They have no implementations.
+
+ // MakeFrom() is an expression whose type is From. We cannot simply
+ // use From(), as the type From may not have a public default
+ // constructor.
+ static From MakeFrom();
+
+ // These two functions are overloaded. Given an expression
+ // Helper(x), the compiler will pick the first version if x can be
+ // implicitly converted to type To; otherwise it will pick the
+ // second version.
+ //
+ // The first version returns a value of size 1, and the second
+ // version returns a value of size 2. Therefore, by checking the
+ // size of Helper(x), which can be done at compile time, we can tell
+ // which version of Helper() is used, and hence whether x can be
+ // implicitly converted to type To.
+ static char Helper(To);
+ static char (&Helper(...))[2]; // NOLINT
+
+ // We have to put the 'public' section after the 'private' section,
+ // or MSVC refuses to compile the code.
+ public:
+ // MSVC warns about implicitly converting from double to int for
+ // possible loss of data, so we need to temporarily disable the
+ // warning.
+#ifdef _MSC_VER
+# pragma warning(push) // Saves the current warning state.
+# pragma warning(disable:4244) // Temporarily disables warning 4244.
+
+ static const bool value =
+ sizeof(Helper(ImplicitlyConvertible::MakeFrom())) == 1;
+# pragma warning(pop) // Restores the warning state.
+#elif defined(__BORLANDC__)
+ // C++Builder cannot use member overload resolution during template
+ // instantiation. The simplest workaround is to use its C++0x type traits
+ // functions (C++Builder 2009 and above only).
+ static const bool value = __is_convertible(From, To);
+#else
+ static const bool value =
+ sizeof(Helper(ImplicitlyConvertible::MakeFrom())) == 1;
+#endif // _MSV_VER
+};
+template <typename From, typename To>
+const bool ImplicitlyConvertible<From, To>::value;
+
+// IsAProtocolMessage<T>::value is a compile-time bool constant that's
+// true iff T is type ProtocolMessage, proto2::Message, or a subclass
+// of those.
+template <typename T>
+struct IsAProtocolMessage
+ : public bool_constant<
+ ImplicitlyConvertible<const T*, const ::ProtocolMessage*>::value ||
+ ImplicitlyConvertible<const T*, const ::proto2::Message*>::value> {
+};
+
+// When the compiler sees expression IsContainerTest<C>(0), if C is an
+// STL-style container class, the first overload of IsContainerTest
+// will be viable (since both C::iterator* and C::const_iterator* are
+// valid types and NULL can be implicitly converted to them). It will
+// be picked over the second overload as 'int' is a perfect match for
+// the type of argument 0. If C::iterator or C::const_iterator is not
+// a valid type, the first overload is not viable, and the second
+// overload will be picked. Therefore, we can determine whether C is
+// a container class by checking the type of IsContainerTest<C>(0).
+// The value of the expression is insignificant.
+//
+// Note that we look for both C::iterator and C::const_iterator. The
+// reason is that C++ injects the name of a class as a member of the
+// class itself (e.g. you can refer to class iterator as either
+// 'iterator' or 'iterator::iterator'). If we look for C::iterator
+// only, for example, we would mistakenly think that a class named
+// iterator is an STL container.
+//
+// Also note that the simpler approach of overloading
+// IsContainerTest(typename C::const_iterator*) and
+// IsContainerTest(...) doesn't work with Visual Age C++ and Sun C++.
+typedef int IsContainer;
+template <class C>
+IsContainer IsContainerTest(int /* dummy */,
+ typename C::iterator* /* it */ = NULL,
+ typename C::const_iterator* /* const_it */ = NULL) {
+ return 0;
+}
+
+typedef char IsNotContainer;
+template <class C>
+IsNotContainer IsContainerTest(long /* dummy */) { return '\0'; }
+
+// EnableIf<condition>::type is void when 'Cond' is true, and
+// undefined when 'Cond' is false. To use SFINAE to make a function
+// overload only apply when a particular expression is true, add
+// "typename EnableIf<expression>::type* = 0" as the last parameter.
+template<bool> struct EnableIf;
+template<> struct EnableIf<true> { typedef void type; }; // NOLINT
+
+// Utilities for native arrays.
+
+// ArrayEq() compares two k-dimensional native arrays using the
+// elements' operator==, where k can be any integer >= 0. When k is
+// 0, ArrayEq() degenerates into comparing a single pair of values.
+
+template <typename T, typename U>
+bool ArrayEq(const T* lhs, size_t size, const U* rhs);
+
+// This generic version is used when k is 0.
+template <typename T, typename U>
+inline bool ArrayEq(const T& lhs, const U& rhs) { return lhs == rhs; }
+
+// This overload is used when k >= 1.
+template <typename T, typename U, size_t N>
+inline bool ArrayEq(const T(&lhs)[N], const U(&rhs)[N]) {
+ return internal::ArrayEq(lhs, N, rhs);
+}
+
+// This helper reduces code bloat. If we instead put its logic inside
+// the previous ArrayEq() function, arrays with different sizes would
+// lead to different copies of the template code.
+template <typename T, typename U>
+bool ArrayEq(const T* lhs, size_t size, const U* rhs) {
+ for (size_t i = 0; i != size; i++) {
+ if (!internal::ArrayEq(lhs[i], rhs[i]))
+ return false;
+ }
+ return true;
+}
+
+// Finds the first element in the iterator range [begin, end) that
+// equals elem. Element may be a native array type itself.
+template <typename Iter, typename Element>
+Iter ArrayAwareFind(Iter begin, Iter end, const Element& elem) {
+ for (Iter it = begin; it != end; ++it) {
+ if (internal::ArrayEq(*it, elem))
+ return it;
+ }
+ return end;
+}
+
+// CopyArray() copies a k-dimensional native array using the elements'
+// operator=, where k can be any integer >= 0. When k is 0,
+// CopyArray() degenerates into copying a single value.
+
+template <typename T, typename U>
+void CopyArray(const T* from, size_t size, U* to);
+
+// This generic version is used when k is 0.
+template <typename T, typename U>
+inline void CopyArray(const T& from, U* to) { *to = from; }
+
+// This overload is used when k >= 1.
+template <typename T, typename U, size_t N>
+inline void CopyArray(const T(&from)[N], U(*to)[N]) {
+ internal::CopyArray(from, N, *to);
+}
+
+// This helper reduces code bloat. If we instead put its logic inside
+// the previous CopyArray() function, arrays with different sizes
+// would lead to different copies of the template code.
+template <typename T, typename U>
+void CopyArray(const T* from, size_t size, U* to) {
+ for (size_t i = 0; i != size; i++) {
+ internal::CopyArray(from[i], to + i);
+ }
+}
+
+// The relation between an NativeArray object (see below) and the
+// native array it represents.
+enum RelationToSource {
+ kReference, // The NativeArray references the native array.
+ kCopy // The NativeArray makes a copy of the native array and
+ // owns the copy.
+};
+
+// Adapts a native array to a read-only STL-style container. Instead
+// of the complete STL container concept, this adaptor only implements
+// members useful for Google Mock's container matchers. New members
+// should be added as needed. To simplify the implementation, we only
+// support Element being a raw type (i.e. having no top-level const or
+// reference modifier). It's the client's responsibility to satisfy
+// this requirement. Element can be an array type itself (hence
+// multi-dimensional arrays are supported).
+template <typename Element>
+class NativeArray {
+ public:
+ // STL-style container typedefs.
+ typedef Element value_type;
+ typedef Element* iterator;
+ typedef const Element* const_iterator;
+
+ // Constructs from a native array.
+ NativeArray(const Element* array, size_t count, RelationToSource relation) {
+ Init(array, count, relation);
+ }
+
+ // Copy constructor.
+ NativeArray(const NativeArray& rhs) {
+ Init(rhs.array_, rhs.size_, rhs.relation_to_source_);
+ }
+
+ ~NativeArray() {
+ // Ensures that the user doesn't instantiate NativeArray with a
+ // const or reference type.
+ static_cast<void>(StaticAssertTypeEqHelper<Element,
+ GTEST_REMOVE_REFERENCE_AND_CONST_(Element)>());
+ if (relation_to_source_ == kCopy)
+ delete[] array_;
+ }
+
+ // STL-style container methods.
+ size_t size() const { return size_; }
+ const_iterator begin() const { return array_; }
+ const_iterator end() const { return array_ + size_; }
+ bool operator==(const NativeArray& rhs) const {
+ return size() == rhs.size() &&
+ ArrayEq(begin(), size(), rhs.begin());
+ }
+
+ private:
+ // Initializes this object; makes a copy of the input array if
+ // 'relation' is kCopy.
+ void Init(const Element* array, size_t a_size, RelationToSource relation) {
+ if (relation == kReference) {
+ array_ = array;
+ } else {
+ Element* const copy = new Element[a_size];
+ CopyArray(array, a_size, copy);
+ array_ = copy;
+ }
+ size_ = a_size;
+ relation_to_source_ = relation;
+ }
+
+ const Element* array_;
+ size_t size_;
+ RelationToSource relation_to_source_;
+
+ GTEST_DISALLOW_ASSIGN_(NativeArray);
+};
+
+} // namespace internal
+} // namespace testing
+
+#define GTEST_MESSAGE_AT_(file, line, message, result_type) \
+ ::testing::internal::AssertHelper(result_type, file, line, message) \
+ = ::testing::Message()
+
+#define GTEST_MESSAGE_(message, result_type) \
+ GTEST_MESSAGE_AT_(__FILE__, __LINE__, message, result_type)
+
+#define GTEST_FATAL_FAILURE_(message) \
+ return GTEST_MESSAGE_(message, ::testing::TestPartResult::kFatalFailure)
+
+#define GTEST_NONFATAL_FAILURE_(message) \
+ GTEST_MESSAGE_(message, ::testing::TestPartResult::kNonFatalFailure)
+
+#define GTEST_SUCCESS_(message) \
+ GTEST_MESSAGE_(message, ::testing::TestPartResult::kSuccess)
+
+// Suppresses MSVC warnings 4072 (unreachable code) for the code following
+// statement if it returns or throws (or doesn't return or throw in some
+// situations).
+#define GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement) \
+ if (::testing::internal::AlwaysTrue()) { statement; }
+
+#define GTEST_TEST_THROW_(statement, expected_exception, fail) \
+ GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
+ if (::testing::internal::ConstCharPtr gtest_msg = "") { \
+ bool gtest_caught_expected = false; \
+ try { \
+ GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement); \
+ } \
+ catch (expected_exception const&) { \
+ gtest_caught_expected = true; \
+ } \
+ catch (...) { \
+ gtest_msg.value = \
+ "Expected: " #statement " throws an exception of type " \
+ #expected_exception ".\n Actual: it throws a different type."; \
+ goto GTEST_CONCAT_TOKEN_(gtest_label_testthrow_, __LINE__); \
+ } \
+ if (!gtest_caught_expected) { \
+ gtest_msg.value = \
+ "Expected: " #statement " throws an exception of type " \
+ #expected_exception ".\n Actual: it throws nothing."; \
+ goto GTEST_CONCAT_TOKEN_(gtest_label_testthrow_, __LINE__); \
+ } \
+ } else \
+ GTEST_CONCAT_TOKEN_(gtest_label_testthrow_, __LINE__): \
+ fail(gtest_msg.value)
+
+#define GTEST_TEST_NO_THROW_(statement, fail) \
+ GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
+ if (::testing::internal::AlwaysTrue()) { \
+ try { \
+ GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement); \
+ } \
+ catch (...) { \
+ goto GTEST_CONCAT_TOKEN_(gtest_label_testnothrow_, __LINE__); \
+ } \
+ } else \
+ GTEST_CONCAT_TOKEN_(gtest_label_testnothrow_, __LINE__): \
+ fail("Expected: " #statement " doesn't throw an exception.\n" \
+ " Actual: it throws.")
+
+#define GTEST_TEST_ANY_THROW_(statement, fail) \
+ GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
+ if (::testing::internal::AlwaysTrue()) { \
+ bool gtest_caught_any = false; \
+ try { \
+ GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement); \
+ } \
+ catch (...) { \
+ gtest_caught_any = true; \
+ } \
+ if (!gtest_caught_any) { \
+ goto GTEST_CONCAT_TOKEN_(gtest_label_testanythrow_, __LINE__); \
+ } \
+ } else \
+ GTEST_CONCAT_TOKEN_(gtest_label_testanythrow_, __LINE__): \
+ fail("Expected: " #statement " throws an exception.\n" \
+ " Actual: it doesn't.")
+
+
+// Implements Boolean test assertions such as EXPECT_TRUE. expression can be
+// either a boolean expression or an AssertionResult. text is a textual
+// represenation of expression as it was passed into the EXPECT_TRUE.
+#define GTEST_TEST_BOOLEAN_(expression, text, actual, expected, fail) \
+ GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
+ if (const ::testing::AssertionResult gtest_ar_ = \
+ ::testing::AssertionResult(expression)) \
+ ; \
+ else \
+ fail(::testing::internal::GetBoolAssertionFailureMessage(\
+ gtest_ar_, text, #actual, #expected).c_str())
+
+#define GTEST_TEST_NO_FATAL_FAILURE_(statement, fail) \
+ GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
+ if (::testing::internal::AlwaysTrue()) { \
+ ::testing::internal::HasNewFatalFailureHelper gtest_fatal_failure_checker; \
+ GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement); \
+ if (gtest_fatal_failure_checker.has_new_fatal_failure()) { \
+ goto GTEST_CONCAT_TOKEN_(gtest_label_testnofatal_, __LINE__); \
+ } \
+ } else \
+ GTEST_CONCAT_TOKEN_(gtest_label_testnofatal_, __LINE__): \
+ fail("Expected: " #statement " doesn't generate new fatal " \
+ "failures in the current thread.\n" \
+ " Actual: it does.")
+
+// Expands to the name of the class that implements the given test.
+#define GTEST_TEST_CLASS_NAME_(test_case_name, test_name) \
+ test_case_name##_##test_name##_Test
+
+// Helper macro for defining tests.
+#define GTEST_TEST_(test_case_name, test_name, parent_class, parent_id)\
+class GTEST_TEST_CLASS_NAME_(test_case_name, test_name) : public parent_class {\
+ public:\
+ GTEST_TEST_CLASS_NAME_(test_case_name, test_name)() {}\
+ private:\
+ virtual void TestBody();\
+ static ::testing::TestInfo* const test_info_ GTEST_ATTRIBUTE_UNUSED_;\
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(\
+ GTEST_TEST_CLASS_NAME_(test_case_name, test_name));\
+};\
+\
+::testing::TestInfo* const GTEST_TEST_CLASS_NAME_(test_case_name, test_name)\
+ ::test_info_ =\
+ ::testing::internal::MakeAndRegisterTestInfo(\
+ #test_case_name, #test_name, NULL, NULL, \
+ (parent_id), \
+ parent_class::SetUpTestCase, \
+ parent_class::TearDownTestCase, \
+ new ::testing::internal::TestFactoryImpl<\
+ GTEST_TEST_CLASS_NAME_(test_case_name, test_name)>);\
+void GTEST_TEST_CLASS_NAME_(test_case_name, test_name)::TestBody()
+
+#endif // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_INTERNAL_H_
+// Copyright 2005, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+//
+// The Google C++ Testing Framework (Google Test)
+//
+// This header file defines the public API for death tests. It is
+// #included by gtest.h so a user doesn't need to include this
+// directly.
+
+#ifndef GTEST_INCLUDE_GTEST_GTEST_DEATH_TEST_H_
+#define GTEST_INCLUDE_GTEST_GTEST_DEATH_TEST_H_
+
+// Copyright 2005, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Authors: wan@google.com (Zhanyong Wan), eefacm@gmail.com (Sean Mcafee)
+//
+// The Google C++ Testing Framework (Google Test)
+//
+// This header file defines internal utilities needed for implementing
+// death tests. They are subject to change without notice.
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_DEATH_TEST_INTERNAL_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_DEATH_TEST_INTERNAL_H_
+
+
+#include <stdio.h>
+
+namespace testing {
+namespace internal {
+
+GTEST_DECLARE_string_(internal_run_death_test);
+
+// Names of the flags (needed for parsing Google Test flags).
+const char kDeathTestStyleFlag[] = "death_test_style";
+const char kDeathTestUseFork[] = "death_test_use_fork";
+const char kInternalRunDeathTestFlag[] = "internal_run_death_test";
+
+#if GTEST_HAS_DEATH_TEST
+
+// DeathTest is a class that hides much of the complexity of the
+// GTEST_DEATH_TEST_ macro. It is abstract; its static Create method
+// returns a concrete class that depends on the prevailing death test
+// style, as defined by the --gtest_death_test_style and/or
+// --gtest_internal_run_death_test flags.
+
+// In describing the results of death tests, these terms are used with
+// the corresponding definitions:
+//
+// exit status: The integer exit information in the format specified
+// by wait(2)
+// exit code: The integer code passed to exit(3), _exit(2), or
+// returned from main()
+class GTEST_API_ DeathTest {
+ public:
+ // Create returns false if there was an error determining the
+ // appropriate action to take for the current death test; for example,
+ // if the gtest_death_test_style flag is set to an invalid value.
+ // The LastMessage method will return a more detailed message in that
+ // case. Otherwise, the DeathTest pointer pointed to by the "test"
+ // argument is set. If the death test should be skipped, the pointer
+ // is set to NULL; otherwise, it is set to the address of a new concrete
+ // DeathTest object that controls the execution of the current test.
+ static bool Create(const char* statement, const RE* regex,
+ const char* file, int line, DeathTest** test);
+ DeathTest();
+ virtual ~DeathTest() { }
+
+ // A helper class that aborts a death test when it's deleted.
+ class ReturnSentinel {
+ public:
+ explicit ReturnSentinel(DeathTest* test) : test_(test) { }
+ ~ReturnSentinel() { test_->Abort(TEST_ENCOUNTERED_RETURN_STATEMENT); }
+ private:
+ DeathTest* const test_;
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(ReturnSentinel);
+ } GTEST_ATTRIBUTE_UNUSED_;
+
+ // An enumeration of possible roles that may be taken when a death
+ // test is encountered. EXECUTE means that the death test logic should
+ // be executed immediately. OVERSEE means that the program should prepare
+ // the appropriate environment for a child process to execute the death
+ // test, then wait for it to complete.
+ enum TestRole { OVERSEE_TEST, EXECUTE_TEST };
+
+ // An enumeration of the three reasons that a test might be aborted.
+ enum AbortReason {
+ TEST_ENCOUNTERED_RETURN_STATEMENT,
+ TEST_THREW_EXCEPTION,
+ TEST_DID_NOT_DIE
+ };
+
+ // Assumes one of the above roles.
+ virtual TestRole AssumeRole() = 0;
+
+ // Waits for the death test to finish and returns its status.
+ virtual int Wait() = 0;
+
+ // Returns true if the death test passed; that is, the test process
+ // exited during the test, its exit status matches a user-supplied
+ // predicate, and its stderr output matches a user-supplied regular
+ // expression.
+ // The user-supplied predicate may be a macro expression rather
+ // than a function pointer or functor, or else Wait and Passed could
+ // be combined.
+ virtual bool Passed(bool exit_status_ok) = 0;
+
+ // Signals that the death test did not die as expected.
+ virtual void Abort(AbortReason reason) = 0;
+
+ // Returns a human-readable outcome message regarding the outcome of
+ // the last death test.
+ static const char* LastMessage();
+
+ static void set_last_death_test_message(const String& message);
+
+ private:
+ // A string containing a description of the outcome of the last death test.
+ static String last_death_test_message_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(DeathTest);
+};
+
+// Factory interface for death tests. May be mocked out for testing.
+class DeathTestFactory {
+ public:
+ virtual ~DeathTestFactory() { }
+ virtual bool Create(const char* statement, const RE* regex,
+ const char* file, int line, DeathTest** test) = 0;
+};
+
+// A concrete DeathTestFactory implementation for normal use.
+class DefaultDeathTestFactory : public DeathTestFactory {
+ public:
+ virtual bool Create(const char* statement, const RE* regex,
+ const char* file, int line, DeathTest** test);
+};
+
+// Returns true if exit_status describes a process that was terminated
+// by a signal, or exited normally with a nonzero exit code.
+GTEST_API_ bool ExitedUnsuccessfully(int exit_status);
+
+// Traps C++ exceptions escaping statement and reports them as test
+// failures. Note that trapping SEH exceptions is not implemented here.
+# if GTEST_HAS_EXCEPTIONS
+# define GTEST_EXECUTE_DEATH_TEST_STATEMENT_(statement, death_test) \
+ try { \
+ GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement); \
+ } catch (const ::std::exception& gtest_exception) { \
+ fprintf(\
+ stderr, \
+ "\n%s: Caught std::exception-derived exception escaping the " \
+ "death test statement. Exception message: %s\n", \
+ ::testing::internal::FormatFileLocation(__FILE__, __LINE__).c_str(), \
+ gtest_exception.what()); \
+ fflush(stderr); \
+ death_test->Abort(::testing::internal::DeathTest::TEST_THREW_EXCEPTION); \
+ } catch (...) { \
+ death_test->Abort(::testing::internal::DeathTest::TEST_THREW_EXCEPTION); \
+ }
+
+# else
+# define GTEST_EXECUTE_DEATH_TEST_STATEMENT_(statement, death_test) \
+ GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement)
+
+# endif
+
+// This macro is for implementing ASSERT_DEATH*, EXPECT_DEATH*,
+// ASSERT_EXIT*, and EXPECT_EXIT*.
+# define GTEST_DEATH_TEST_(statement, predicate, regex, fail) \
+ GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
+ if (::testing::internal::AlwaysTrue()) { \
+ const ::testing::internal::RE& gtest_regex = (regex); \
+ ::testing::internal::DeathTest* gtest_dt; \
+ if (!::testing::internal::DeathTest::Create(#statement, >est_regex, \
+ __FILE__, __LINE__, >est_dt)) { \
+ goto GTEST_CONCAT_TOKEN_(gtest_label_, __LINE__); \
+ } \
+ if (gtest_dt != NULL) { \
+ ::testing::internal::scoped_ptr< ::testing::internal::DeathTest> \
+ gtest_dt_ptr(gtest_dt); \
+ switch (gtest_dt->AssumeRole()) { \
+ case ::testing::internal::DeathTest::OVERSEE_TEST: \
+ if (!gtest_dt->Passed(predicate(gtest_dt->Wait()))) { \
+ goto GTEST_CONCAT_TOKEN_(gtest_label_, __LINE__); \
+ } \
+ break; \
+ case ::testing::internal::DeathTest::EXECUTE_TEST: { \
+ ::testing::internal::DeathTest::ReturnSentinel \
+ gtest_sentinel(gtest_dt); \
+ GTEST_EXECUTE_DEATH_TEST_STATEMENT_(statement, gtest_dt); \
+ gtest_dt->Abort(::testing::internal::DeathTest::TEST_DID_NOT_DIE); \
+ break; \
+ } \
+ default: \
+ break; \
+ } \
+ } \
+ } else \
+ GTEST_CONCAT_TOKEN_(gtest_label_, __LINE__): \
+ fail(::testing::internal::DeathTest::LastMessage())
+// The symbol "fail" here expands to something into which a message
+// can be streamed.
+
+// A class representing the parsed contents of the
+// --gtest_internal_run_death_test flag, as it existed when
+// RUN_ALL_TESTS was called.
+class InternalRunDeathTestFlag {
+ public:
+ InternalRunDeathTestFlag(const String& a_file,
+ int a_line,
+ int an_index,
+ int a_write_fd)
+ : file_(a_file), line_(a_line), index_(an_index),
+ write_fd_(a_write_fd) {}
+
+ ~InternalRunDeathTestFlag() {
+ if (write_fd_ >= 0)
+ posix::Close(write_fd_);
+ }
+
+ String file() const { return file_; }
+ int line() const { return line_; }
+ int index() const { return index_; }
+ int write_fd() const { return write_fd_; }
+
+ private:
+ String file_;
+ int line_;
+ int index_;
+ int write_fd_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(InternalRunDeathTestFlag);
+};
+
+// Returns a newly created InternalRunDeathTestFlag object with fields
+// initialized from the GTEST_FLAG(internal_run_death_test) flag if
+// the flag is specified; otherwise returns NULL.
+InternalRunDeathTestFlag* ParseInternalRunDeathTestFlag();
+
+#else // GTEST_HAS_DEATH_TEST
+
+// This macro is used for implementing macros such as
+// EXPECT_DEATH_IF_SUPPORTED and ASSERT_DEATH_IF_SUPPORTED on systems where
+// death tests are not supported. Those macros must compile on such systems
+// iff EXPECT_DEATH and ASSERT_DEATH compile with the same parameters on
+// systems that support death tests. This allows one to write such a macro
+// on a system that does not support death tests and be sure that it will
+// compile on a death-test supporting system.
+//
+// Parameters:
+// statement - A statement that a macro such as EXPECT_DEATH would test
+// for program termination. This macro has to make sure this
+// statement is compiled but not executed, to ensure that
+// EXPECT_DEATH_IF_SUPPORTED compiles with a certain
+// parameter iff EXPECT_DEATH compiles with it.
+// regex - A regex that a macro such as EXPECT_DEATH would use to test
+// the output of statement. This parameter has to be
+// compiled but not evaluated by this macro, to ensure that
+// this macro only accepts expressions that a macro such as
+// EXPECT_DEATH would accept.
+// terminator - Must be an empty statement for EXPECT_DEATH_IF_SUPPORTED
+// and a return statement for ASSERT_DEATH_IF_SUPPORTED.
+// This ensures that ASSERT_DEATH_IF_SUPPORTED will not
+// compile inside functions where ASSERT_DEATH doesn't
+// compile.
+//
+// The branch that has an always false condition is used to ensure that
+// statement and regex are compiled (and thus syntactically correct) but
+// never executed. The unreachable code macro protects the terminator
+// statement from generating an 'unreachable code' warning in case
+// statement unconditionally returns or throws. The Message constructor at
+// the end allows the syntax of streaming additional messages into the
+// macro, for compilational compatibility with EXPECT_DEATH/ASSERT_DEATH.
+# define GTEST_UNSUPPORTED_DEATH_TEST_(statement, regex, terminator) \
+ GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
+ if (::testing::internal::AlwaysTrue()) { \
+ GTEST_LOG_(WARNING) \
+ << "Death tests are not supported on this platform.\n" \
+ << "Statement '" #statement "' cannot be verified."; \
+ } else if (::testing::internal::AlwaysFalse()) { \
+ ::testing::internal::RE::PartialMatch(".*", (regex)); \
+ GTEST_SUPPRESS_UNREACHABLE_CODE_WARNING_BELOW_(statement); \
+ terminator; \
+ } else \
+ ::testing::Message()
+
+#endif // GTEST_HAS_DEATH_TEST
+
+} // namespace internal
+} // namespace testing
+
+#endif // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_DEATH_TEST_INTERNAL_H_
+
+namespace testing {
+
+// This flag controls the style of death tests. Valid values are "threadsafe",
+// meaning that the death test child process will re-execute the test binary
+// from the start, running only a single death test, or "fast",
+// meaning that the child process will execute the test logic immediately
+// after forking.
+GTEST_DECLARE_string_(death_test_style);
+
+#if GTEST_HAS_DEATH_TEST
+
+// The following macros are useful for writing death tests.
+
+// Here's what happens when an ASSERT_DEATH* or EXPECT_DEATH* is
+// executed:
+//
+// 1. It generates a warning if there is more than one active
+// thread. This is because it's safe to fork() or clone() only
+// when there is a single thread.
+//
+// 2. The parent process clone()s a sub-process and runs the death
+// test in it; the sub-process exits with code 0 at the end of the
+// death test, if it hasn't exited already.
+//
+// 3. The parent process waits for the sub-process to terminate.
+//
+// 4. The parent process checks the exit code and error message of
+// the sub-process.
+//
+// Examples:
+//
+// ASSERT_DEATH(server.SendMessage(56, "Hello"), "Invalid port number");
+// for (int i = 0; i < 5; i++) {
+// EXPECT_DEATH(server.ProcessRequest(i),
+// "Invalid request .* in ProcessRequest()")
+// << "Failed to die on request " << i);
+// }
+//
+// ASSERT_EXIT(server.ExitNow(), ::testing::ExitedWithCode(0), "Exiting");
+//
+// bool KilledBySIGHUP(int exit_code) {
+// return WIFSIGNALED(exit_code) && WTERMSIG(exit_code) == SIGHUP;
+// }
+//
+// ASSERT_EXIT(client.HangUpServer(), KilledBySIGHUP, "Hanging up!");
+//
+// On the regular expressions used in death tests:
+//
+// On POSIX-compliant systems (*nix), we use the <regex.h> library,
+// which uses the POSIX extended regex syntax.
+//
+// On other platforms (e.g. Windows), we only support a simple regex
+// syntax implemented as part of Google Test. This limited
+// implementation should be enough most of the time when writing
+// death tests; though it lacks many features you can find in PCRE
+// or POSIX extended regex syntax. For example, we don't support
+// union ("x|y"), grouping ("(xy)"), brackets ("[xy]"), and
+// repetition count ("x{5,7}"), among others.
+//
+// Below is the syntax that we do support. We chose it to be a
+// subset of both PCRE and POSIX extended regex, so it's easy to
+// learn wherever you come from. In the following: 'A' denotes a
+// literal character, period (.), or a single \\ escape sequence;
+// 'x' and 'y' denote regular expressions; 'm' and 'n' are for
+// natural numbers.
+//
+// c matches any literal character c
+// \\d matches any decimal digit
+// \\D matches any character that's not a decimal digit
+// \\f matches \f
+// \\n matches \n
+// \\r matches \r
+// \\s matches any ASCII whitespace, including \n
+// \\S matches any character that's not a whitespace
+// \\t matches \t
+// \\v matches \v
+// \\w matches any letter, _, or decimal digit
+// \\W matches any character that \\w doesn't match
+// \\c matches any literal character c, which must be a punctuation
+// . matches any single character except \n
+// A? matches 0 or 1 occurrences of A
+// A* matches 0 or many occurrences of A
+// A+ matches 1 or many occurrences of A
+// ^ matches the beginning of a string (not that of each line)
+// $ matches the end of a string (not that of each line)
+// xy matches x followed by y
+//
+// If you accidentally use PCRE or POSIX extended regex features
+// not implemented by us, you will get a run-time failure. In that
+// case, please try to rewrite your regular expression within the
+// above syntax.
+//
+// This implementation is *not* meant to be as highly tuned or robust
+// as a compiled regex library, but should perform well enough for a
+// death test, which already incurs significant overhead by launching
+// a child process.
+//
+// Known caveats:
+//
+// A "threadsafe" style death test obtains the path to the test
+// program from argv[0] and re-executes it in the sub-process. For
+// simplicity, the current implementation doesn't search the PATH
+// when launching the sub-process. This means that the user must
+// invoke the test program via a path that contains at least one
+// path separator (e.g. path/to/foo_test and
+// /absolute/path/to/bar_test are fine, but foo_test is not). This
+// is rarely a problem as people usually don't put the test binary
+// directory in PATH.
+//
+// TODO(wan@google.com): make thread-safe death tests search the PATH.
+
+// Asserts that a given statement causes the program to exit, with an
+// integer exit status that satisfies predicate, and emitting error output
+// that matches regex.
+# define ASSERT_EXIT(statement, predicate, regex) \
+ GTEST_DEATH_TEST_(statement, predicate, regex, GTEST_FATAL_FAILURE_)
+
+// Like ASSERT_EXIT, but continues on to successive tests in the
+// test case, if any:
+# define EXPECT_EXIT(statement, predicate, regex) \
+ GTEST_DEATH_TEST_(statement, predicate, regex, GTEST_NONFATAL_FAILURE_)
+
+// Asserts that a given statement causes the program to exit, either by
+// explicitly exiting with a nonzero exit code or being killed by a
+// signal, and emitting error output that matches regex.
+# define ASSERT_DEATH(statement, regex) \
+ ASSERT_EXIT(statement, ::testing::internal::ExitedUnsuccessfully, regex)
+
+// Like ASSERT_DEATH, but continues on to successive tests in the
+// test case, if any:
+# define EXPECT_DEATH(statement, regex) \
+ EXPECT_EXIT(statement, ::testing::internal::ExitedUnsuccessfully, regex)
+
+// Two predicate classes that can be used in {ASSERT,EXPECT}_EXIT*:
+
+// Tests that an exit code describes a normal exit with a given exit code.
+class GTEST_API_ ExitedWithCode {
+ public:
+ explicit ExitedWithCode(int exit_code);
+ bool operator()(int exit_status) const;
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ExitedWithCode& other);
+
+ const int exit_code_;
+};
+
+# if !GTEST_OS_WINDOWS
+// Tests that an exit code describes an exit due to termination by a
+// given signal.
+class GTEST_API_ KilledBySignal {
+ public:
+ explicit KilledBySignal(int signum);
+ bool operator()(int exit_status) const;
+ private:
+ const int signum_;
+};
+# endif // !GTEST_OS_WINDOWS
+
+// EXPECT_DEBUG_DEATH asserts that the given statements die in debug mode.
+// The death testing framework causes this to have interesting semantics,
+// since the sideeffects of the call are only visible in opt mode, and not
+// in debug mode.
+//
+// In practice, this can be used to test functions that utilize the
+// LOG(DFATAL) macro using the following style:
+//
+// int DieInDebugOr12(int* sideeffect) {
+// if (sideeffect) {
+// *sideeffect = 12;
+// }
+// LOG(DFATAL) << "death";
+// return 12;
+// }
+//
+// TEST(TestCase, TestDieOr12WorksInDgbAndOpt) {
+// int sideeffect = 0;
+// // Only asserts in dbg.
+// EXPECT_DEBUG_DEATH(DieInDebugOr12(&sideeffect), "death");
+//
+// #ifdef NDEBUG
+// // opt-mode has sideeffect visible.
+// EXPECT_EQ(12, sideeffect);
+// #else
+// // dbg-mode no visible sideeffect.
+// EXPECT_EQ(0, sideeffect);
+// #endif
+// }
+//
+// This will assert that DieInDebugReturn12InOpt() crashes in debug
+// mode, usually due to a DCHECK or LOG(DFATAL), but returns the
+// appropriate fallback value (12 in this case) in opt mode. If you
+// need to test that a function has appropriate side-effects in opt
+// mode, include assertions against the side-effects. A general
+// pattern for this is:
+//
+// EXPECT_DEBUG_DEATH({
+// // Side-effects here will have an effect after this statement in
+// // opt mode, but none in debug mode.
+// EXPECT_EQ(12, DieInDebugOr12(&sideeffect));
+// }, "death");
+//
+# ifdef NDEBUG
+
+# define EXPECT_DEBUG_DEATH(statement, regex) \
+ do { statement; } while (::testing::internal::AlwaysFalse())
+
+# define ASSERT_DEBUG_DEATH(statement, regex) \
+ do { statement; } while (::testing::internal::AlwaysFalse())
+
+# else
+
+# define EXPECT_DEBUG_DEATH(statement, regex) \
+ EXPECT_DEATH(statement, regex)
+
+# define ASSERT_DEBUG_DEATH(statement, regex) \
+ ASSERT_DEATH(statement, regex)
+
+# endif // NDEBUG for EXPECT_DEBUG_DEATH
+#endif // GTEST_HAS_DEATH_TEST
+
+// EXPECT_DEATH_IF_SUPPORTED(statement, regex) and
+// ASSERT_DEATH_IF_SUPPORTED(statement, regex) expand to real death tests if
+// death tests are supported; otherwise they just issue a warning. This is
+// useful when you are combining death test assertions with normal test
+// assertions in one test.
+#if GTEST_HAS_DEATH_TEST
+# define EXPECT_DEATH_IF_SUPPORTED(statement, regex) \
+ EXPECT_DEATH(statement, regex)
+# define ASSERT_DEATH_IF_SUPPORTED(statement, regex) \
+ ASSERT_DEATH(statement, regex)
+#else
+# define EXPECT_DEATH_IF_SUPPORTED(statement, regex) \
+ GTEST_UNSUPPORTED_DEATH_TEST_(statement, regex, )
+# define ASSERT_DEATH_IF_SUPPORTED(statement, regex) \
+ GTEST_UNSUPPORTED_DEATH_TEST_(statement, regex, return)
+#endif
+
+} // namespace testing
+
+#endif // GTEST_INCLUDE_GTEST_GTEST_DEATH_TEST_H_
+// Copyright 2005, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+//
+// The Google C++ Testing Framework (Google Test)
+//
+// This header file defines the Message class.
+//
+// IMPORTANT NOTE: Due to limitation of the C++ language, we have to
+// leave some internal implementation details in this header file.
+// They are clearly marked by comments like this:
+//
+// // INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+//
+// Such code is NOT meant to be used by a user directly, and is subject
+// to CHANGE WITHOUT NOTICE. Therefore DO NOT DEPEND ON IT in a user
+// program!
+
+#ifndef GTEST_INCLUDE_GTEST_GTEST_MESSAGE_H_
+#define GTEST_INCLUDE_GTEST_GTEST_MESSAGE_H_
+
+#include <limits>
+
+
+namespace testing {
+
+// The Message class works like an ostream repeater.
+//
+// Typical usage:
+//
+// 1. You stream a bunch of values to a Message object.
+// It will remember the text in a stringstream.
+// 2. Then you stream the Message object to an ostream.
+// This causes the text in the Message to be streamed
+// to the ostream.
+//
+// For example;
+//
+// testing::Message foo;
+// foo << 1 << " != " << 2;
+// std::cout << foo;
+//
+// will print "1 != 2".
+//
+// Message is not intended to be inherited from. In particular, its
+// destructor is not virtual.
+//
+// Note that stringstream behaves differently in gcc and in MSVC. You
+// can stream a NULL char pointer to it in the former, but not in the
+// latter (it causes an access violation if you do). The Message
+// class hides this difference by treating a NULL char pointer as
+// "(null)".
+class GTEST_API_ Message {
+ private:
+ // The type of basic IO manipulators (endl, ends, and flush) for
+ // narrow streams.
+ typedef std::ostream& (*BasicNarrowIoManip)(std::ostream&);
+
+ public:
+ // Constructs an empty Message.
+ // We allocate the stringstream separately because otherwise each use of
+ // ASSERT/EXPECT in a procedure adds over 200 bytes to the procedure's
+ // stack frame leading to huge stack frames in some cases; gcc does not reuse
+ // the stack space.
+ Message() : ss_(new ::std::stringstream) {
+ // By default, we want there to be enough precision when printing
+ // a double to a Message.
+ *ss_ << std::setprecision(std::numeric_limits<double>::digits10 + 2);
+ }
+
+ // Copy constructor.
+ Message(const Message& msg) : ss_(new ::std::stringstream) { // NOLINT
+ *ss_ << msg.GetString();
+ }
+
+ // Constructs a Message from a C-string.
+ explicit Message(const char* str) : ss_(new ::std::stringstream) {
+ *ss_ << str;
+ }
+
+#if GTEST_OS_SYMBIAN
+ // Streams a value (either a pointer or not) to this object.
+ template <typename T>
+ inline Message& operator <<(const T& value) {
+ StreamHelper(typename internal::is_pointer<T>::type(), value);
+ return *this;
+ }
+#else
+ // Streams a non-pointer value to this object.
+ template <typename T>
+ inline Message& operator <<(const T& val) {
+ ::GTestStreamToHelper(ss_.get(), val);
+ return *this;
+ }
+
+ // Streams a pointer value to this object.
+ //
+ // This function is an overload of the previous one. When you
+ // stream a pointer to a Message, this definition will be used as it
+ // is more specialized. (The C++ Standard, section
+ // [temp.func.order].) If you stream a non-pointer, then the
+ // previous definition will be used.
+ //
+ // The reason for this overload is that streaming a NULL pointer to
+ // ostream is undefined behavior. Depending on the compiler, you
+ // may get "0", "(nil)", "(null)", or an access violation. To
+ // ensure consistent result across compilers, we always treat NULL
+ // as "(null)".
+ template <typename T>
+ inline Message& operator <<(T* const& pointer) { // NOLINT
+ if (pointer == NULL) {
+ *ss_ << "(null)";
+ } else {
+ ::GTestStreamToHelper(ss_.get(), pointer);
+ }
+ return *this;
+ }
+#endif // GTEST_OS_SYMBIAN
+
+ // Since the basic IO manipulators are overloaded for both narrow
+ // and wide streams, we have to provide this specialized definition
+ // of operator <<, even though its body is the same as the
+ // templatized version above. Without this definition, streaming
+ // endl or other basic IO manipulators to Message will confuse the
+ // compiler.
+ Message& operator <<(BasicNarrowIoManip val) {
+ *ss_ << val;
+ return *this;
+ }
+
+ // Instead of 1/0, we want to see true/false for bool values.
+ Message& operator <<(bool b) {
+ return *this << (b ? "true" : "false");
+ }
+
+ // These two overloads allow streaming a wide C string to a Message
+ // using the UTF-8 encoding.
+ Message& operator <<(const wchar_t* wide_c_str) {
+ return *this << internal::String::ShowWideCString(wide_c_str);
+ }
+ Message& operator <<(wchar_t* wide_c_str) {
+ return *this << internal::String::ShowWideCString(wide_c_str);
+ }
+
+#if GTEST_HAS_STD_WSTRING
+ // Converts the given wide string to a narrow string using the UTF-8
+ // encoding, and streams the result to this Message object.
+ Message& operator <<(const ::std::wstring& wstr);
+#endif // GTEST_HAS_STD_WSTRING
+
+#if GTEST_HAS_GLOBAL_WSTRING
+ // Converts the given wide string to a narrow string using the UTF-8
+ // encoding, and streams the result to this Message object.
+ Message& operator <<(const ::wstring& wstr);
+#endif // GTEST_HAS_GLOBAL_WSTRING
+
+ // Gets the text streamed to this object so far as a String.
+ // Each '\0' character in the buffer is replaced with "\\0".
+ //
+ // INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+ internal::String GetString() const {
+ return internal::StringStreamToString(ss_.get());
+ }
+
+ private:
+
+#if GTEST_OS_SYMBIAN
+ // These are needed as the Nokia Symbian Compiler cannot decide between
+ // const T& and const T* in a function template. The Nokia compiler _can_
+ // decide between class template specializations for T and T*, so a
+ // tr1::type_traits-like is_pointer works, and we can overload on that.
+ template <typename T>
+ inline void StreamHelper(internal::true_type /*dummy*/, T* pointer) {
+ if (pointer == NULL) {
+ *ss_ << "(null)";
+ } else {
+ ::GTestStreamToHelper(ss_.get(), pointer);
+ }
+ }
+ template <typename T>
+ inline void StreamHelper(internal::false_type /*dummy*/, const T& value) {
+ ::GTestStreamToHelper(ss_.get(), value);
+ }
+#endif // GTEST_OS_SYMBIAN
+
+ // We'll hold the text streamed to this object here.
+ const internal::scoped_ptr< ::std::stringstream> ss_;
+
+ // We declare (but don't implement) this to prevent the compiler
+ // from implementing the assignment operator.
+ void operator=(const Message&);
+};
+
+// Streams a Message to an ostream.
+inline std::ostream& operator <<(std::ostream& os, const Message& sb) {
+ return os << sb.GetString();
+}
+
+} // namespace testing
+
+#endif // GTEST_INCLUDE_GTEST_GTEST_MESSAGE_H_
+// This file was GENERATED by command:
+// pump.py gtest-param-test.h.pump
+// DO NOT EDIT BY HAND!!!
+
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Authors: vladl@google.com (Vlad Losev)
+//
+// Macros and functions for implementing parameterized tests
+// in Google C++ Testing Framework (Google Test)
+//
+// This file is generated by a SCRIPT. DO NOT EDIT BY HAND!
+//
+#ifndef GTEST_INCLUDE_GTEST_GTEST_PARAM_TEST_H_
+#define GTEST_INCLUDE_GTEST_GTEST_PARAM_TEST_H_
+
+
+// Value-parameterized tests allow you to test your code with different
+// parameters without writing multiple copies of the same test.
+//
+// Here is how you use value-parameterized tests:
+
+#if 0
+
+// To write value-parameterized tests, first you should define a fixture
+// class. It is usually derived from testing::TestWithParam<T> (see below for
+// another inheritance scheme that's sometimes useful in more complicated
+// class hierarchies), where the type of your parameter values.
+// TestWithParam<T> is itself derived from testing::Test. T can be any
+// copyable type. If it's a raw pointer, you are responsible for managing the
+// lifespan of the pointed values.
+
+class FooTest : public ::testing::TestWithParam<const char*> {
+ // You can implement all the usual class fixture members here.
+};
+
+// Then, use the TEST_P macro to define as many parameterized tests
+// for this fixture as you want. The _P suffix is for "parameterized"
+// or "pattern", whichever you prefer to think.
+
+TEST_P(FooTest, DoesBlah) {
+ // Inside a test, access the test parameter with the GetParam() method
+ // of the TestWithParam<T> class:
+ EXPECT_TRUE(foo.Blah(GetParam()));
+ ...
+}
+
+TEST_P(FooTest, HasBlahBlah) {
+ ...
+}
+
+// Finally, you can use INSTANTIATE_TEST_CASE_P to instantiate the test
+// case with any set of parameters you want. Google Test defines a number
+// of functions for generating test parameters. They return what we call
+// (surprise!) parameter generators. Here is a summary of them, which
+// are all in the testing namespace:
+//
+//
+// Range(begin, end [, step]) - Yields values {begin, begin+step,
+// begin+step+step, ...}. The values do not
+// include end. step defaults to 1.
+// Values(v1, v2, ..., vN) - Yields values {v1, v2, ..., vN}.
+// ValuesIn(container) - Yields values from a C-style array, an STL
+// ValuesIn(begin,end) container, or an iterator range [begin, end).
+// Bool() - Yields sequence {false, true}.
+// Combine(g1, g2, ..., gN) - Yields all combinations (the Cartesian product
+// for the math savvy) of the values generated
+// by the N generators.
+//
+// For more details, see comments at the definitions of these functions below
+// in this file.
+//
+// The following statement will instantiate tests from the FooTest test case
+// each with parameter values "meeny", "miny", and "moe".
+
+INSTANTIATE_TEST_CASE_P(InstantiationName,
+ FooTest,
+ Values("meeny", "miny", "moe"));
+
+// To distinguish different instances of the pattern, (yes, you
+// can instantiate it more then once) the first argument to the
+// INSTANTIATE_TEST_CASE_P macro is a prefix that will be added to the
+// actual test case name. Remember to pick unique prefixes for different
+// instantiations. The tests from the instantiation above will have
+// these names:
+//
+// * InstantiationName/FooTest.DoesBlah/0 for "meeny"
+// * InstantiationName/FooTest.DoesBlah/1 for "miny"
+// * InstantiationName/FooTest.DoesBlah/2 for "moe"
+// * InstantiationName/FooTest.HasBlahBlah/0 for "meeny"
+// * InstantiationName/FooTest.HasBlahBlah/1 for "miny"
+// * InstantiationName/FooTest.HasBlahBlah/2 for "moe"
+//
+// You can use these names in --gtest_filter.
+//
+// This statement will instantiate all tests from FooTest again, each
+// with parameter values "cat" and "dog":
+
+const char* pets[] = {"cat", "dog"};
+INSTANTIATE_TEST_CASE_P(AnotherInstantiationName, FooTest, ValuesIn(pets));
+
+// The tests from the instantiation above will have these names:
+//
+// * AnotherInstantiationName/FooTest.DoesBlah/0 for "cat"
+// * AnotherInstantiationName/FooTest.DoesBlah/1 for "dog"
+// * AnotherInstantiationName/FooTest.HasBlahBlah/0 for "cat"
+// * AnotherInstantiationName/FooTest.HasBlahBlah/1 for "dog"
+//
+// Please note that INSTANTIATE_TEST_CASE_P will instantiate all tests
+// in the given test case, whether their definitions come before or
+// AFTER the INSTANTIATE_TEST_CASE_P statement.
+//
+// Please also note that generator expressions (including parameters to the
+// generators) are evaluated in InitGoogleTest(), after main() has started.
+// This allows the user on one hand, to adjust generator parameters in order
+// to dynamically determine a set of tests to run and on the other hand,
+// give the user a chance to inspect the generated tests with Google Test
+// reflection API before RUN_ALL_TESTS() is executed.
+//
+// You can see samples/sample7_unittest.cc and samples/sample8_unittest.cc
+// for more examples.
+//
+// In the future, we plan to publish the API for defining new parameter
+// generators. But for now this interface remains part of the internal
+// implementation and is subject to change.
+//
+//
+// A parameterized test fixture must be derived from testing::Test and from
+// testing::WithParamInterface<T>, where T is the type of the parameter
+// values. Inheriting from TestWithParam<T> satisfies that requirement because
+// TestWithParam<T> inherits from both Test and WithParamInterface. In more
+// complicated hierarchies, however, it is occasionally useful to inherit
+// separately from Test and WithParamInterface. For example:
+
+class BaseTest : public ::testing::Test {
+ // You can inherit all the usual members for a non-parameterized test
+ // fixture here.
+};
+
+class DerivedTest : public BaseTest, public ::testing::WithParamInterface<int> {
+ // The usual test fixture members go here too.
+};
+
+TEST_F(BaseTest, HasFoo) {
+ // This is an ordinary non-parameterized test.
+}
+
+TEST_P(DerivedTest, DoesBlah) {
+ // GetParam works just the same here as if you inherit from TestWithParam.
+ EXPECT_TRUE(foo.Blah(GetParam()));
+}
+
+#endif // 0
+
+
+#if !GTEST_OS_SYMBIAN
+# include <utility>
+#endif
+
+// scripts/fuse_gtest.py depends on gtest's own header being #included
+// *unconditionally*. Therefore these #includes cannot be moved
+// inside #if GTEST_HAS_PARAM_TEST.
+// Copyright 2008 Google Inc.
+// All Rights Reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: vladl@google.com (Vlad Losev)
+
+// Type and function utilities for implementing parameterized tests.
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PARAM_UTIL_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PARAM_UTIL_H_
+
+#include <iterator>
+#include <utility>
+#include <vector>
+
+// scripts/fuse_gtest.py depends on gtest's own header being #included
+// *unconditionally*. Therefore these #includes cannot be moved
+// inside #if GTEST_HAS_PARAM_TEST.
+// Copyright 2003 Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Authors: Dan Egnor (egnor@google.com)
+//
+// A "smart" pointer type with reference tracking. Every pointer to a
+// particular object is kept on a circular linked list. When the last pointer
+// to an object is destroyed or reassigned, the object is deleted.
+//
+// Used properly, this deletes the object when the last reference goes away.
+// There are several caveats:
+// - Like all reference counting schemes, cycles lead to leaks.
+// - Each smart pointer is actually two pointers (8 bytes instead of 4).
+// - Every time a pointer is assigned, the entire list of pointers to that
+// object is traversed. This class is therefore NOT SUITABLE when there
+// will often be more than two or three pointers to a particular object.
+// - References are only tracked as long as linked_ptr<> objects are copied.
+// If a linked_ptr<> is converted to a raw pointer and back, BAD THINGS
+// will happen (double deletion).
+//
+// A good use of this class is storing object references in STL containers.
+// You can safely put linked_ptr<> in a vector<>.
+// Other uses may not be as good.
+//
+// Note: If you use an incomplete type with linked_ptr<>, the class
+// *containing* linked_ptr<> must have a constructor and destructor (even
+// if they do nothing!).
+//
+// Bill Gibbons suggested we use something like this.
+//
+// Thread Safety:
+// Unlike other linked_ptr implementations, in this implementation
+// a linked_ptr object is thread-safe in the sense that:
+// - it's safe to copy linked_ptr objects concurrently,
+// - it's safe to copy *from* a linked_ptr and read its underlying
+// raw pointer (e.g. via get()) concurrently, and
+// - it's safe to write to two linked_ptrs that point to the same
+// shared object concurrently.
+// TODO(wan@google.com): rename this to safe_linked_ptr to avoid
+// confusion with normal linked_ptr.
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_LINKED_PTR_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_LINKED_PTR_H_
+
+#include <stdlib.h>
+#include <assert.h>
+
+
+namespace testing {
+namespace internal {
+
+// Protects copying of all linked_ptr objects.
+GTEST_API_ GTEST_DECLARE_STATIC_MUTEX_(g_linked_ptr_mutex);
+
+// This is used internally by all instances of linked_ptr<>. It needs to be
+// a non-template class because different types of linked_ptr<> can refer to
+// the same object (linked_ptr<Superclass>(obj) vs linked_ptr<Subclass>(obj)).
+// So, it needs to be possible for different types of linked_ptr to participate
+// in the same circular linked list, so we need a single class type here.
+//
+// DO NOT USE THIS CLASS DIRECTLY YOURSELF. Use linked_ptr<T>.
+class linked_ptr_internal {
+ public:
+ // Create a new circle that includes only this instance.
+ void join_new() {
+ next_ = this;
+ }
+
+ // Many linked_ptr operations may change p.link_ for some linked_ptr
+ // variable p in the same circle as this object. Therefore we need
+ // to prevent two such operations from occurring concurrently.
+ //
+ // Note that different types of linked_ptr objects can coexist in a
+ // circle (e.g. linked_ptr<Base>, linked_ptr<Derived1>, and
+ // linked_ptr<Derived2>). Therefore we must use a single mutex to
+ // protect all linked_ptr objects. This can create serious
+ // contention in production code, but is acceptable in a testing
+ // framework.
+
+ // Join an existing circle.
+ // L < g_linked_ptr_mutex
+ void join(linked_ptr_internal const* ptr) {
+ MutexLock lock(&g_linked_ptr_mutex);
+
+ linked_ptr_internal const* p = ptr;
+ while (p->next_ != ptr) p = p->next_;
+ p->next_ = this;
+ next_ = ptr;
+ }
+
+ // Leave whatever circle we're part of. Returns true if we were the
+ // last member of the circle. Once this is done, you can join() another.
+ // L < g_linked_ptr_mutex
+ bool depart() {
+ MutexLock lock(&g_linked_ptr_mutex);
+
+ if (next_ == this) return true;
+ linked_ptr_internal const* p = next_;
+ while (p->next_ != this) p = p->next_;
+ p->next_ = next_;
+ return false;
+ }
+
+ private:
+ mutable linked_ptr_internal const* next_;
+};
+
+template <typename T>
+class linked_ptr {
+ public:
+ typedef T element_type;
+
+ // Take over ownership of a raw pointer. This should happen as soon as
+ // possible after the object is created.
+ explicit linked_ptr(T* ptr = NULL) { capture(ptr); }
+ ~linked_ptr() { depart(); }
+
+ // Copy an existing linked_ptr<>, adding ourselves to the list of references.
+ template <typename U> linked_ptr(linked_ptr<U> const& ptr) { copy(&ptr); }
+ linked_ptr(linked_ptr const& ptr) { // NOLINT
+ assert(&ptr != this);
+ copy(&ptr);
+ }
+
+ // Assignment releases the old value and acquires the new.
+ template <typename U> linked_ptr& operator=(linked_ptr<U> const& ptr) {
+ depart();
+ copy(&ptr);
+ return *this;
+ }
+
+ linked_ptr& operator=(linked_ptr const& ptr) {
+ if (&ptr != this) {
+ depart();
+ copy(&ptr);
+ }
+ return *this;
+ }
+
+ // Smart pointer members.
+ void reset(T* ptr = NULL) {
+ depart();
+ capture(ptr);
+ }
+ T* get() const { return value_; }
+ T* operator->() const { return value_; }
+ T& operator*() const { return *value_; }
+
+ bool operator==(T* p) const { return value_ == p; }
+ bool operator!=(T* p) const { return value_ != p; }
+ template <typename U>
+ bool operator==(linked_ptr<U> const& ptr) const {
+ return value_ == ptr.get();
+ }
+ template <typename U>
+ bool operator!=(linked_ptr<U> const& ptr) const {
+ return value_ != ptr.get();
+ }
+
+ private:
+ template <typename U>
+ friend class linked_ptr;
+
+ T* value_;
+ linked_ptr_internal link_;
+
+ void depart() {
+ if (link_.depart()) delete value_;
+ }
+
+ void capture(T* ptr) {
+ value_ = ptr;
+ link_.join_new();
+ }
+
+ template <typename U> void copy(linked_ptr<U> const* ptr) {
+ value_ = ptr->get();
+ if (value_)
+ link_.join(&ptr->link_);
+ else
+ link_.join_new();
+ }
+};
+
+template<typename T> inline
+bool operator==(T* ptr, const linked_ptr<T>& x) {
+ return ptr == x.get();
+}
+
+template<typename T> inline
+bool operator!=(T* ptr, const linked_ptr<T>& x) {
+ return ptr != x.get();
+}
+
+// A function to convert T* into linked_ptr<T>
+// Doing e.g. make_linked_ptr(new FooBarBaz<type>(arg)) is a shorter notation
+// for linked_ptr<FooBarBaz<type> >(new FooBarBaz<type>(arg))
+template <typename T>
+linked_ptr<T> make_linked_ptr(T* ptr) {
+ return linked_ptr<T>(ptr);
+}
+
+} // namespace internal
+} // namespace testing
+
+#endif // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_LINKED_PTR_H_
+// Copyright 2007, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+// Google Test - The Google C++ Testing Framework
+//
+// This file implements a universal value printer that can print a
+// value of any type T:
+//
+// void ::testing::internal::UniversalPrinter<T>::Print(value, ostream_ptr);
+//
+// A user can teach this function how to print a class type T by
+// defining either operator<<() or PrintTo() in the namespace that
+// defines T. More specifically, the FIRST defined function in the
+// following list will be used (assuming T is defined in namespace
+// foo):
+//
+// 1. foo::PrintTo(const T&, ostream*)
+// 2. operator<<(ostream&, const T&) defined in either foo or the
+// global namespace.
+//
+// If none of the above is defined, it will print the debug string of
+// the value if it is a protocol buffer, or print the raw bytes in the
+// value otherwise.
+//
+// To aid debugging: when T is a reference type, the address of the
+// value is also printed; when T is a (const) char pointer, both the
+// pointer value and the NUL-terminated string it points to are
+// printed.
+//
+// We also provide some convenient wrappers:
+//
+// // Prints a value to a string. For a (const or not) char
+// // pointer, the NUL-terminated string (but not the pointer) is
+// // printed.
+// std::string ::testing::PrintToString(const T& value);
+//
+// // Prints a value tersely: for a reference type, the referenced
+// // value (but not the address) is printed; for a (const or not) char
+// // pointer, the NUL-terminated string (but not the pointer) is
+// // printed.
+// void ::testing::internal::UniversalTersePrint(const T& value, ostream*);
+//
+// // Prints value using the type inferred by the compiler. The difference
+// // from UniversalTersePrint() is that this function prints both the
+// // pointer and the NUL-terminated string for a (const or not) char pointer.
+// void ::testing::internal::UniversalPrint(const T& value, ostream*);
+//
+// // Prints the fields of a tuple tersely to a string vector, one
+// // element for each field. Tuple support must be enabled in
+// // gtest-port.h.
+// std::vector<string> UniversalTersePrintTupleFieldsToStrings(
+// const Tuple& value);
+//
+// Known limitation:
+//
+// The print primitives print the elements of an STL-style container
+// using the compiler-inferred type of *iter where iter is a
+// const_iterator of the container. When const_iterator is an input
+// iterator but not a forward iterator, this inferred type may not
+// match value_type, and the print output may be incorrect. In
+// practice, this is rarely a problem as for most containers
+// const_iterator is a forward iterator. We'll fix this if there's an
+// actual need for it. Note that this fix cannot rely on value_type
+// being defined as many user-defined container types don't have
+// value_type.
+
+#ifndef GTEST_INCLUDE_GTEST_GTEST_PRINTERS_H_
+#define GTEST_INCLUDE_GTEST_GTEST_PRINTERS_H_
+
+#include <ostream> // NOLINT
+#include <sstream>
+#include <string>
+#include <utility>
+#include <vector>
+
+namespace testing {
+
+// Definitions in the 'internal' and 'internal2' name spaces are
+// subject to change without notice. DO NOT USE THEM IN USER CODE!
+namespace internal2 {
+
+// Prints the given number of bytes in the given object to the given
+// ostream.
+GTEST_API_ void PrintBytesInObjectTo(const unsigned char* obj_bytes,
+ size_t count,
+ ::std::ostream* os);
+
+// For selecting which printer to use when a given type has neither <<
+// nor PrintTo().
+enum TypeKind {
+ kProtobuf, // a protobuf type
+ kConvertibleToInteger, // a type implicitly convertible to BiggestInt
+ // (e.g. a named or unnamed enum type)
+ kOtherType // anything else
+};
+
+// TypeWithoutFormatter<T, kTypeKind>::PrintValue(value, os) is called
+// by the universal printer to print a value of type T when neither
+// operator<< nor PrintTo() is defined for T, where kTypeKind is the
+// "kind" of T as defined by enum TypeKind.
+template <typename T, TypeKind kTypeKind>
+class TypeWithoutFormatter {
+ public:
+ // This default version is called when kTypeKind is kOtherType.
+ static void PrintValue(const T& value, ::std::ostream* os) {
+ PrintBytesInObjectTo(reinterpret_cast<const unsigned char*>(&value),
+ sizeof(value), os);
+ }
+};
+
+// We print a protobuf using its ShortDebugString() when the string
+// doesn't exceed this many characters; otherwise we print it using
+// DebugString() for better readability.
+const size_t kProtobufOneLinerMaxLength = 50;
+
+template <typename T>
+class TypeWithoutFormatter<T, kProtobuf> {
+ public:
+ static void PrintValue(const T& value, ::std::ostream* os) {
+ const ::testing::internal::string short_str = value.ShortDebugString();
+ const ::testing::internal::string pretty_str =
+ short_str.length() <= kProtobufOneLinerMaxLength ?
+ short_str : ("\n" + value.DebugString());
+ *os << ("<" + pretty_str + ">");
+ }
+};
+
+template <typename T>
+class TypeWithoutFormatter<T, kConvertibleToInteger> {
+ public:
+ // Since T has no << operator or PrintTo() but can be implicitly
+ // converted to BiggestInt, we print it as a BiggestInt.
+ //
+ // Most likely T is an enum type (either named or unnamed), in which
+ // case printing it as an integer is the desired behavior. In case
+ // T is not an enum, printing it as an integer is the best we can do
+ // given that it has no user-defined printer.
+ static void PrintValue(const T& value, ::std::ostream* os) {
+ const internal::BiggestInt kBigInt = value;
+ *os << kBigInt;
+ }
+};
+
+// Prints the given value to the given ostream. If the value is a
+// protocol message, its debug string is printed; if it's an enum or
+// of a type implicitly convertible to BiggestInt, it's printed as an
+// integer; otherwise the bytes in the value are printed. This is
+// what UniversalPrinter<T>::Print() does when it knows nothing about
+// type T and T has neither << operator nor PrintTo().
+//
+// A user can override this behavior for a class type Foo by defining
+// a << operator in the namespace where Foo is defined.
+//
+// We put this operator in namespace 'internal2' instead of 'internal'
+// to simplify the implementation, as much code in 'internal' needs to
+// use << in STL, which would conflict with our own << were it defined
+// in 'internal'.
+//
+// Note that this operator<< takes a generic std::basic_ostream<Char,
+// CharTraits> type instead of the more restricted std::ostream. If
+// we define it to take an std::ostream instead, we'll get an
+// "ambiguous overloads" compiler error when trying to print a type
+// Foo that supports streaming to std::basic_ostream<Char,
+// CharTraits>, as the compiler cannot tell whether
+// operator<<(std::ostream&, const T&) or
+// operator<<(std::basic_stream<Char, CharTraits>, const Foo&) is more
+// specific.
+template <typename Char, typename CharTraits, typename T>
+::std::basic_ostream<Char, CharTraits>& operator<<(
+ ::std::basic_ostream<Char, CharTraits>& os, const T& x) {
+ TypeWithoutFormatter<T,
+ (internal::IsAProtocolMessage<T>::value ? kProtobuf :
+ internal::ImplicitlyConvertible<const T&, internal::BiggestInt>::value ?
+ kConvertibleToInteger : kOtherType)>::PrintValue(x, &os);
+ return os;
+}
+
+} // namespace internal2
+} // namespace testing
+
+// This namespace MUST NOT BE NESTED IN ::testing, or the name look-up
+// magic needed for implementing UniversalPrinter won't work.
+namespace testing_internal {
+
+// Used to print a value that is not an STL-style container when the
+// user doesn't define PrintTo() for it.
+template <typename T>
+void DefaultPrintNonContainerTo(const T& value, ::std::ostream* os) {
+ // With the following statement, during unqualified name lookup,
+ // testing::internal2::operator<< appears as if it was declared in
+ // the nearest enclosing namespace that contains both
+ // ::testing_internal and ::testing::internal2, i.e. the global
+ // namespace. For more details, refer to the C++ Standard section
+ // 7.3.4-1 [namespace.udir]. This allows us to fall back onto
+ // testing::internal2::operator<< in case T doesn't come with a <<
+ // operator.
+ //
+ // We cannot write 'using ::testing::internal2::operator<<;', which
+ // gcc 3.3 fails to compile due to a compiler bug.
+ using namespace ::testing::internal2; // NOLINT
+
+ // Assuming T is defined in namespace foo, in the next statement,
+ // the compiler will consider all of:
+ //
+ // 1. foo::operator<< (thanks to Koenig look-up),
+ // 2. ::operator<< (as the current namespace is enclosed in ::),
+ // 3. testing::internal2::operator<< (thanks to the using statement above).
+ //
+ // The operator<< whose type matches T best will be picked.
+ //
+ // We deliberately allow #2 to be a candidate, as sometimes it's
+ // impossible to define #1 (e.g. when foo is ::std, defining
+ // anything in it is undefined behavior unless you are a compiler
+ // vendor.).
+ *os << value;
+}
+
+} // namespace testing_internal
+
+namespace testing {
+namespace internal {
+
+// UniversalPrinter<T>::Print(value, ostream_ptr) prints the given
+// value to the given ostream. The caller must ensure that
+// 'ostream_ptr' is not NULL, or the behavior is undefined.
+//
+// We define UniversalPrinter as a class template (as opposed to a
+// function template), as we need to partially specialize it for
+// reference types, which cannot be done with function templates.
+template <typename T>
+class UniversalPrinter;
+
+template <typename T>
+void UniversalPrint(const T& value, ::std::ostream* os);
+
+// Used to print an STL-style container when the user doesn't define
+// a PrintTo() for it.
+template <typename C>
+void DefaultPrintTo(IsContainer /* dummy */,
+ false_type /* is not a pointer */,
+ const C& container, ::std::ostream* os) {
+ const size_t kMaxCount = 32; // The maximum number of elements to print.
+ *os << '{';
+ size_t count = 0;
+ for (typename C::const_iterator it = container.begin();
+ it != container.end(); ++it, ++count) {
+ if (count > 0) {
+ *os << ',';
+ if (count == kMaxCount) { // Enough has been printed.
+ *os << " ...";
+ break;
+ }
+ }
+ *os << ' ';
+ // We cannot call PrintTo(*it, os) here as PrintTo() doesn't
+ // handle *it being a native array.
+ internal::UniversalPrint(*it, os);
+ }
+
+ if (count > 0) {
+ *os << ' ';
+ }
+ *os << '}';
+}
+
+// Used to print a pointer that is neither a char pointer nor a member
+// pointer, when the user doesn't define PrintTo() for it. (A member
+// variable pointer or member function pointer doesn't really point to
+// a location in the address space. Their representation is
+// implementation-defined. Therefore they will be printed as raw
+// bytes.)
+template <typename T>
+void DefaultPrintTo(IsNotContainer /* dummy */,
+ true_type /* is a pointer */,
+ T* p, ::std::ostream* os) {
+ if (p == NULL) {
+ *os << "NULL";
+ } else {
+ // C++ doesn't allow casting from a function pointer to any object
+ // pointer.
+ //
+ // IsTrue() silences warnings: "Condition is always true",
+ // "unreachable code".
+ if (IsTrue(ImplicitlyConvertible<T*, const void*>::value)) {
+ // T is not a function type. We just call << to print p,
+ // relying on ADL to pick up user-defined << for their pointer
+ // types, if any.
+ *os << p;
+ } else {
+ // T is a function type, so '*os << p' doesn't do what we want
+ // (it just prints p as bool). We want to print p as a const
+ // void*. However, we cannot cast it to const void* directly,
+ // even using reinterpret_cast, as earlier versions of gcc
+ // (e.g. 3.4.5) cannot compile the cast when p is a function
+ // pointer. Casting to UInt64 first solves the problem.
+ *os << reinterpret_cast<const void*>(
+ reinterpret_cast<internal::UInt64>(p));
+ }
+ }
+}
+
+// Used to print a non-container, non-pointer value when the user
+// doesn't define PrintTo() for it.
+template <typename T>
+void DefaultPrintTo(IsNotContainer /* dummy */,
+ false_type /* is not a pointer */,
+ const T& value, ::std::ostream* os) {
+ ::testing_internal::DefaultPrintNonContainerTo(value, os);
+}
+
+// Prints the given value using the << operator if it has one;
+// otherwise prints the bytes in it. This is what
+// UniversalPrinter<T>::Print() does when PrintTo() is not specialized
+// or overloaded for type T.
+//
+// A user can override this behavior for a class type Foo by defining
+// an overload of PrintTo() in the namespace where Foo is defined. We
+// give the user this option as sometimes defining a << operator for
+// Foo is not desirable (e.g. the coding style may prevent doing it,
+// or there is already a << operator but it doesn't do what the user
+// wants).
+template <typename T>
+void PrintTo(const T& value, ::std::ostream* os) {
+ // DefaultPrintTo() is overloaded. The type of its first two
+ // arguments determine which version will be picked. If T is an
+ // STL-style container, the version for container will be called; if
+ // T is a pointer, the pointer version will be called; otherwise the
+ // generic version will be called.
+ //
+ // Note that we check for container types here, prior to we check
+ // for protocol message types in our operator<<. The rationale is:
+ //
+ // For protocol messages, we want to give people a chance to
+ // override Google Mock's format by defining a PrintTo() or
+ // operator<<. For STL containers, other formats can be
+ // incompatible with Google Mock's format for the container
+ // elements; therefore we check for container types here to ensure
+ // that our format is used.
+ //
+ // The second argument of DefaultPrintTo() is needed to bypass a bug
+ // in Symbian's C++ compiler that prevents it from picking the right
+ // overload between:
+ //
+ // PrintTo(const T& x, ...);
+ // PrintTo(T* x, ...);
+ DefaultPrintTo(IsContainerTest<T>(0), is_pointer<T>(), value, os);
+}
+
+// The following list of PrintTo() overloads tells
+// UniversalPrinter<T>::Print() how to print standard types (built-in
+// types, strings, plain arrays, and pointers).
+
+// Overloads for various char types.
+GTEST_API_ void PrintTo(unsigned char c, ::std::ostream* os);
+GTEST_API_ void PrintTo(signed char c, ::std::ostream* os);
+inline void PrintTo(char c, ::std::ostream* os) {
+ // When printing a plain char, we always treat it as unsigned. This
+ // way, the output won't be affected by whether the compiler thinks
+ // char is signed or not.
+ PrintTo(static_cast<unsigned char>(c), os);
+}
+
+// Overloads for other simple built-in types.
+inline void PrintTo(bool x, ::std::ostream* os) {
+ *os << (x ? "true" : "false");
+}
+
+// Overload for wchar_t type.
+// Prints a wchar_t as a symbol if it is printable or as its internal
+// code otherwise and also as its decimal code (except for L'\0').
+// The L'\0' char is printed as "L'\\0'". The decimal code is printed
+// as signed integer when wchar_t is implemented by the compiler
+// as a signed type and is printed as an unsigned integer when wchar_t
+// is implemented as an unsigned type.
+GTEST_API_ void PrintTo(wchar_t wc, ::std::ostream* os);
+
+// Overloads for C strings.
+GTEST_API_ void PrintTo(const char* s, ::std::ostream* os);
+inline void PrintTo(char* s, ::std::ostream* os) {
+ PrintTo(ImplicitCast_<const char*>(s), os);
+}
+
+// signed/unsigned char is often used for representing binary data, so
+// we print pointers to it as void* to be safe.
+inline void PrintTo(const signed char* s, ::std::ostream* os) {
+ PrintTo(ImplicitCast_<const void*>(s), os);
+}
+inline void PrintTo(signed char* s, ::std::ostream* os) {
+ PrintTo(ImplicitCast_<const void*>(s), os);
+}
+inline void PrintTo(const unsigned char* s, ::std::ostream* os) {
+ PrintTo(ImplicitCast_<const void*>(s), os);
+}
+inline void PrintTo(unsigned char* s, ::std::ostream* os) {
+ PrintTo(ImplicitCast_<const void*>(s), os);
+}
+
+// MSVC can be configured to define wchar_t as a typedef of unsigned
+// short. It defines _NATIVE_WCHAR_T_DEFINED when wchar_t is a native
+// type. When wchar_t is a typedef, defining an overload for const
+// wchar_t* would cause unsigned short* be printed as a wide string,
+// possibly causing invalid memory accesses.
+#if !defined(_MSC_VER) || defined(_NATIVE_WCHAR_T_DEFINED)
+// Overloads for wide C strings
+GTEST_API_ void PrintTo(const wchar_t* s, ::std::ostream* os);
+inline void PrintTo(wchar_t* s, ::std::ostream* os) {
+ PrintTo(ImplicitCast_<const wchar_t*>(s), os);
+}
+#endif
+
+// Overload for C arrays. Multi-dimensional arrays are printed
+// properly.
+
+// Prints the given number of elements in an array, without printing
+// the curly braces.
+template <typename T>
+void PrintRawArrayTo(const T a[], size_t count, ::std::ostream* os) {
+ UniversalPrint(a[0], os);
+ for (size_t i = 1; i != count; i++) {
+ *os << ", ";
+ UniversalPrint(a[i], os);
+ }
+}
+
+// Overloads for ::string and ::std::string.
+#if GTEST_HAS_GLOBAL_STRING
+GTEST_API_ void PrintStringTo(const ::string&s, ::std::ostream* os);
+inline void PrintTo(const ::string& s, ::std::ostream* os) {
+ PrintStringTo(s, os);
+}
+#endif // GTEST_HAS_GLOBAL_STRING
+
+GTEST_API_ void PrintStringTo(const ::std::string&s, ::std::ostream* os);
+inline void PrintTo(const ::std::string& s, ::std::ostream* os) {
+ PrintStringTo(s, os);
+}
+
+// Overloads for ::wstring and ::std::wstring.
+#if GTEST_HAS_GLOBAL_WSTRING
+GTEST_API_ void PrintWideStringTo(const ::wstring&s, ::std::ostream* os);
+inline void PrintTo(const ::wstring& s, ::std::ostream* os) {
+ PrintWideStringTo(s, os);
+}
+#endif // GTEST_HAS_GLOBAL_WSTRING
+
+#if GTEST_HAS_STD_WSTRING
+GTEST_API_ void PrintWideStringTo(const ::std::wstring&s, ::std::ostream* os);
+inline void PrintTo(const ::std::wstring& s, ::std::ostream* os) {
+ PrintWideStringTo(s, os);
+}
+#endif // GTEST_HAS_STD_WSTRING
+
+#if GTEST_HAS_TR1_TUPLE
+// Overload for ::std::tr1::tuple. Needed for printing function arguments,
+// which are packed as tuples.
+
+// Helper function for printing a tuple. T must be instantiated with
+// a tuple type.
+template <typename T>
+void PrintTupleTo(const T& t, ::std::ostream* os);
+
+// Overloaded PrintTo() for tuples of various arities. We support
+// tuples of up-to 10 fields. The following implementation works
+// regardless of whether tr1::tuple is implemented using the
+// non-standard variadic template feature or not.
+
+inline void PrintTo(const ::std::tr1::tuple<>& t, ::std::ostream* os) {
+ PrintTupleTo(t, os);
+}
+
+template <typename T1>
+void PrintTo(const ::std::tr1::tuple<T1>& t, ::std::ostream* os) {
+ PrintTupleTo(t, os);
+}
+
+template <typename T1, typename T2>
+void PrintTo(const ::std::tr1::tuple<T1, T2>& t, ::std::ostream* os) {
+ PrintTupleTo(t, os);
+}
+
+template <typename T1, typename T2, typename T3>
+void PrintTo(const ::std::tr1::tuple<T1, T2, T3>& t, ::std::ostream* os) {
+ PrintTupleTo(t, os);
+}
+
+template <typename T1, typename T2, typename T3, typename T4>
+void PrintTo(const ::std::tr1::tuple<T1, T2, T3, T4>& t, ::std::ostream* os) {
+ PrintTupleTo(t, os);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5>
+void PrintTo(const ::std::tr1::tuple<T1, T2, T3, T4, T5>& t,
+ ::std::ostream* os) {
+ PrintTupleTo(t, os);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6>
+void PrintTo(const ::std::tr1::tuple<T1, T2, T3, T4, T5, T6>& t,
+ ::std::ostream* os) {
+ PrintTupleTo(t, os);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7>
+void PrintTo(const ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7>& t,
+ ::std::ostream* os) {
+ PrintTupleTo(t, os);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8>
+void PrintTo(const ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7, T8>& t,
+ ::std::ostream* os) {
+ PrintTupleTo(t, os);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9>
+void PrintTo(const ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7, T8, T9>& t,
+ ::std::ostream* os) {
+ PrintTupleTo(t, os);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10>
+void PrintTo(
+ const ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10>& t,
+ ::std::ostream* os) {
+ PrintTupleTo(t, os);
+}
+#endif // GTEST_HAS_TR1_TUPLE
+
+// Overload for std::pair.
+template <typename T1, typename T2>
+void PrintTo(const ::std::pair<T1, T2>& value, ::std::ostream* os) {
+ *os << '(';
+ // We cannot use UniversalPrint(value.first, os) here, as T1 may be
+ // a reference type. The same for printing value.second.
+ UniversalPrinter<T1>::Print(value.first, os);
+ *os << ", ";
+ UniversalPrinter<T2>::Print(value.second, os);
+ *os << ')';
+}
+
+// Implements printing a non-reference type T by letting the compiler
+// pick the right overload of PrintTo() for T.
+template <typename T>
+class UniversalPrinter {
+ public:
+ // MSVC warns about adding const to a function type, so we want to
+ // disable the warning.
+#ifdef _MSC_VER
+# pragma warning(push) // Saves the current warning state.
+# pragma warning(disable:4180) // Temporarily disables warning 4180.
+#endif // _MSC_VER
+
+ // Note: we deliberately don't call this PrintTo(), as that name
+ // conflicts with ::testing::internal::PrintTo in the body of the
+ // function.
+ static void Print(const T& value, ::std::ostream* os) {
+ // By default, ::testing::internal::PrintTo() is used for printing
+ // the value.
+ //
+ // Thanks to Koenig look-up, if T is a class and has its own
+ // PrintTo() function defined in its namespace, that function will
+ // be visible here. Since it is more specific than the generic ones
+ // in ::testing::internal, it will be picked by the compiler in the
+ // following statement - exactly what we want.
+ PrintTo(value, os);
+ }
+
+#ifdef _MSC_VER
+# pragma warning(pop) // Restores the warning state.
+#endif // _MSC_VER
+};
+
+// UniversalPrintArray(begin, len, os) prints an array of 'len'
+// elements, starting at address 'begin'.
+template <typename T>
+void UniversalPrintArray(const T* begin, size_t len, ::std::ostream* os) {
+ if (len == 0) {
+ *os << "{}";
+ } else {
+ *os << "{ ";
+ const size_t kThreshold = 18;
+ const size_t kChunkSize = 8;
+ // If the array has more than kThreshold elements, we'll have to
+ // omit some details by printing only the first and the last
+ // kChunkSize elements.
+ // TODO(wan@google.com): let the user control the threshold using a flag.
+ if (len <= kThreshold) {
+ PrintRawArrayTo(begin, len, os);
+ } else {
+ PrintRawArrayTo(begin, kChunkSize, os);
+ *os << ", ..., ";
+ PrintRawArrayTo(begin + len - kChunkSize, kChunkSize, os);
+ }
+ *os << " }";
+ }
+}
+// This overload prints a (const) char array compactly.
+GTEST_API_ void UniversalPrintArray(const char* begin,
+ size_t len,
+ ::std::ostream* os);
+
+// Implements printing an array type T[N].
+template <typename T, size_t N>
+class UniversalPrinter<T[N]> {
+ public:
+ // Prints the given array, omitting some elements when there are too
+ // many.
+ static void Print(const T (&a)[N], ::std::ostream* os) {
+ UniversalPrintArray(a, N, os);
+ }
+};
+
+// Implements printing a reference type T&.
+template <typename T>
+class UniversalPrinter<T&> {
+ public:
+ // MSVC warns about adding const to a function type, so we want to
+ // disable the warning.
+#ifdef _MSC_VER
+# pragma warning(push) // Saves the current warning state.
+# pragma warning(disable:4180) // Temporarily disables warning 4180.
+#endif // _MSC_VER
+
+ static void Print(const T& value, ::std::ostream* os) {
+ // Prints the address of the value. We use reinterpret_cast here
+ // as static_cast doesn't compile when T is a function type.
+ *os << "@" << reinterpret_cast<const void*>(&value) << " ";
+
+ // Then prints the value itself.
+ UniversalPrint(value, os);
+ }
+
+#ifdef _MSC_VER
+# pragma warning(pop) // Restores the warning state.
+#endif // _MSC_VER
+};
+
+// Prints a value tersely: for a reference type, the referenced value
+// (but not the address) is printed; for a (const) char pointer, the
+// NUL-terminated string (but not the pointer) is printed.
+template <typename T>
+void UniversalTersePrint(const T& value, ::std::ostream* os) {
+ UniversalPrint(value, os);
+}
+inline void UniversalTersePrint(const char* str, ::std::ostream* os) {
+ if (str == NULL) {
+ *os << "NULL";
+ } else {
+ UniversalPrint(string(str), os);
+ }
+}
+inline void UniversalTersePrint(char* str, ::std::ostream* os) {
+ UniversalTersePrint(static_cast<const char*>(str), os);
+}
+
+// Prints a value using the type inferred by the compiler. The
+// difference between this and UniversalTersePrint() is that for a
+// (const) char pointer, this prints both the pointer and the
+// NUL-terminated string.
+template <typename T>
+void UniversalPrint(const T& value, ::std::ostream* os) {
+ UniversalPrinter<T>::Print(value, os);
+}
+
+#if GTEST_HAS_TR1_TUPLE
+typedef ::std::vector<string> Strings;
+
+// This helper template allows PrintTo() for tuples and
+// UniversalTersePrintTupleFieldsToStrings() to be defined by
+// induction on the number of tuple fields. The idea is that
+// TuplePrefixPrinter<N>::PrintPrefixTo(t, os) prints the first N
+// fields in tuple t, and can be defined in terms of
+// TuplePrefixPrinter<N - 1>.
+
+// The inductive case.
+template <size_t N>
+struct TuplePrefixPrinter {
+ // Prints the first N fields of a tuple.
+ template <typename Tuple>
+ static void PrintPrefixTo(const Tuple& t, ::std::ostream* os) {
+ TuplePrefixPrinter<N - 1>::PrintPrefixTo(t, os);
+ *os << ", ";
+ UniversalPrinter<typename ::std::tr1::tuple_element<N - 1, Tuple>::type>
+ ::Print(::std::tr1::get<N - 1>(t), os);
+ }
+
+ // Tersely prints the first N fields of a tuple to a string vector,
+ // one element for each field.
+ template <typename Tuple>
+ static void TersePrintPrefixToStrings(const Tuple& t, Strings* strings) {
+ TuplePrefixPrinter<N - 1>::TersePrintPrefixToStrings(t, strings);
+ ::std::stringstream ss;
+ UniversalTersePrint(::std::tr1::get<N - 1>(t), &ss);
+ strings->push_back(ss.str());
+ }
+};
+
+// Base cases.
+template <>
+struct TuplePrefixPrinter<0> {
+ template <typename Tuple>
+ static void PrintPrefixTo(const Tuple&, ::std::ostream*) {}
+
+ template <typename Tuple>
+ static void TersePrintPrefixToStrings(const Tuple&, Strings*) {}
+};
+// We have to specialize the entire TuplePrefixPrinter<> class
+// template here, even though the definition of
+// TersePrintPrefixToStrings() is the same as the generic version, as
+// Embarcadero (formerly CodeGear, formerly Borland) C++ doesn't
+// support specializing a method template of a class template.
+template <>
+struct TuplePrefixPrinter<1> {
+ template <typename Tuple>
+ static void PrintPrefixTo(const Tuple& t, ::std::ostream* os) {
+ UniversalPrinter<typename ::std::tr1::tuple_element<0, Tuple>::type>::
+ Print(::std::tr1::get<0>(t), os);
+ }
+
+ template <typename Tuple>
+ static void TersePrintPrefixToStrings(const Tuple& t, Strings* strings) {
+ ::std::stringstream ss;
+ UniversalTersePrint(::std::tr1::get<0>(t), &ss);
+ strings->push_back(ss.str());
+ }
+};
+
+// Helper function for printing a tuple. T must be instantiated with
+// a tuple type.
+template <typename T>
+void PrintTupleTo(const T& t, ::std::ostream* os) {
+ *os << "(";
+ TuplePrefixPrinter< ::std::tr1::tuple_size<T>::value>::
+ PrintPrefixTo(t, os);
+ *os << ")";
+}
+
+// Prints the fields of a tuple tersely to a string vector, one
+// element for each field. See the comment before
+// UniversalTersePrint() for how we define "tersely".
+template <typename Tuple>
+Strings UniversalTersePrintTupleFieldsToStrings(const Tuple& value) {
+ Strings result;
+ TuplePrefixPrinter< ::std::tr1::tuple_size<Tuple>::value>::
+ TersePrintPrefixToStrings(value, &result);
+ return result;
+}
+#endif // GTEST_HAS_TR1_TUPLE
+
+} // namespace internal
+
+template <typename T>
+::std::string PrintToString(const T& value) {
+ ::std::stringstream ss;
+ internal::UniversalTersePrint(value, &ss);
+ return ss.str();
+}
+
+} // namespace testing
+
+#endif // GTEST_INCLUDE_GTEST_GTEST_PRINTERS_H_
+
+#if GTEST_HAS_PARAM_TEST
+
+namespace testing {
+namespace internal {
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// Outputs a message explaining invalid registration of different
+// fixture class for the same test case. This may happen when
+// TEST_P macro is used to define two tests with the same name
+// but in different namespaces.
+GTEST_API_ void ReportInvalidTestCaseType(const char* test_case_name,
+ const char* file, int line);
+
+template <typename> class ParamGeneratorInterface;
+template <typename> class ParamGenerator;
+
+// Interface for iterating over elements provided by an implementation
+// of ParamGeneratorInterface<T>.
+template <typename T>
+class ParamIteratorInterface {
+ public:
+ virtual ~ParamIteratorInterface() {}
+ // A pointer to the base generator instance.
+ // Used only for the purposes of iterator comparison
+ // to make sure that two iterators belong to the same generator.
+ virtual const ParamGeneratorInterface<T>* BaseGenerator() const = 0;
+ // Advances iterator to point to the next element
+ // provided by the generator. The caller is responsible
+ // for not calling Advance() on an iterator equal to
+ // BaseGenerator()->End().
+ virtual void Advance() = 0;
+ // Clones the iterator object. Used for implementing copy semantics
+ // of ParamIterator<T>.
+ virtual ParamIteratorInterface* Clone() const = 0;
+ // Dereferences the current iterator and provides (read-only) access
+ // to the pointed value. It is the caller's responsibility not to call
+ // Current() on an iterator equal to BaseGenerator()->End().
+ // Used for implementing ParamGenerator<T>::operator*().
+ virtual const T* Current() const = 0;
+ // Determines whether the given iterator and other point to the same
+ // element in the sequence generated by the generator.
+ // Used for implementing ParamGenerator<T>::operator==().
+ virtual bool Equals(const ParamIteratorInterface& other) const = 0;
+};
+
+// Class iterating over elements provided by an implementation of
+// ParamGeneratorInterface<T>. It wraps ParamIteratorInterface<T>
+// and implements the const forward iterator concept.
+template <typename T>
+class ParamIterator {
+ public:
+ typedef T value_type;
+ typedef const T& reference;
+ typedef ptrdiff_t difference_type;
+
+ // ParamIterator assumes ownership of the impl_ pointer.
+ ParamIterator(const ParamIterator& other) : impl_(other.impl_->Clone()) {}
+ ParamIterator& operator=(const ParamIterator& other) {
+ if (this != &other)
+ impl_.reset(other.impl_->Clone());
+ return *this;
+ }
+
+ const T& operator*() const { return *impl_->Current(); }
+ const T* operator->() const { return impl_->Current(); }
+ // Prefix version of operator++.
+ ParamIterator& operator++() {
+ impl_->Advance();
+ return *this;
+ }
+ // Postfix version of operator++.
+ ParamIterator operator++(int /*unused*/) {
+ ParamIteratorInterface<T>* clone = impl_->Clone();
+ impl_->Advance();
+ return ParamIterator(clone);
+ }
+ bool operator==(const ParamIterator& other) const {
+ return impl_.get() == other.impl_.get() || impl_->Equals(*other.impl_);
+ }
+ bool operator!=(const ParamIterator& other) const {
+ return !(*this == other);
+ }
+
+ private:
+ friend class ParamGenerator<T>;
+ explicit ParamIterator(ParamIteratorInterface<T>* impl) : impl_(impl) {}
+ scoped_ptr<ParamIteratorInterface<T> > impl_;
+};
+
+// ParamGeneratorInterface<T> is the binary interface to access generators
+// defined in other translation units.
+template <typename T>
+class ParamGeneratorInterface {
+ public:
+ typedef T ParamType;
+
+ virtual ~ParamGeneratorInterface() {}
+
+ // Generator interface definition
+ virtual ParamIteratorInterface<T>* Begin() const = 0;
+ virtual ParamIteratorInterface<T>* End() const = 0;
+};
+
+// Wraps ParamGeneratorInterface<T> and provides general generator syntax
+// compatible with the STL Container concept.
+// This class implements copy initialization semantics and the contained
+// ParamGeneratorInterface<T> instance is shared among all copies
+// of the original object. This is possible because that instance is immutable.
+template<typename T>
+class ParamGenerator {
+ public:
+ typedef ParamIterator<T> iterator;
+
+ explicit ParamGenerator(ParamGeneratorInterface<T>* impl) : impl_(impl) {}
+ ParamGenerator(const ParamGenerator& other) : impl_(other.impl_) {}
+
+ ParamGenerator& operator=(const ParamGenerator& other) {
+ impl_ = other.impl_;
+ return *this;
+ }
+
+ iterator begin() const { return iterator(impl_->Begin()); }
+ iterator end() const { return iterator(impl_->End()); }
+
+ private:
+ linked_ptr<const ParamGeneratorInterface<T> > impl_;
+};
+
+// Generates values from a range of two comparable values. Can be used to
+// generate sequences of user-defined types that implement operator+() and
+// operator<().
+// This class is used in the Range() function.
+template <typename T, typename IncrementT>
+class RangeGenerator : public ParamGeneratorInterface<T> {
+ public:
+ RangeGenerator(T begin, T end, IncrementT step)
+ : begin_(begin), end_(end),
+ step_(step), end_index_(CalculateEndIndex(begin, end, step)) {}
+ virtual ~RangeGenerator() {}
+
+ virtual ParamIteratorInterface<T>* Begin() const {
+ return new Iterator(this, begin_, 0, step_);
+ }
+ virtual ParamIteratorInterface<T>* End() const {
+ return new Iterator(this, end_, end_index_, step_);
+ }
+
+ private:
+ class Iterator : public ParamIteratorInterface<T> {
+ public:
+ Iterator(const ParamGeneratorInterface<T>* base, T value, int index,
+ IncrementT step)
+ : base_(base), value_(value), index_(index), step_(step) {}
+ virtual ~Iterator() {}
+
+ virtual const ParamGeneratorInterface<T>* BaseGenerator() const {
+ return base_;
+ }
+ virtual void Advance() {
+ value_ = value_ + step_;
+ index_++;
+ }
+ virtual ParamIteratorInterface<T>* Clone() const {
+ return new Iterator(*this);
+ }
+ virtual const T* Current() const { return &value_; }
+ virtual bool Equals(const ParamIteratorInterface<T>& other) const {
+ // Having the same base generator guarantees that the other
+ // iterator is of the same type and we can downcast.
+ GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
+ << "The program attempted to compare iterators "
+ << "from different generators." << std::endl;
+ const int other_index =
+ CheckedDowncastToActualType<const Iterator>(&other)->index_;
+ return index_ == other_index;
+ }
+
+ private:
+ Iterator(const Iterator& other)
+ : ParamIteratorInterface<T>(),
+ base_(other.base_), value_(other.value_), index_(other.index_),
+ step_(other.step_) {}
+
+ // No implementation - assignment is unsupported.
+ void operator=(const Iterator& other);
+
+ const ParamGeneratorInterface<T>* const base_;
+ T value_;
+ int index_;
+ const IncrementT step_;
+ }; // class RangeGenerator::Iterator
+
+ static int CalculateEndIndex(const T& begin,
+ const T& end,
+ const IncrementT& step) {
+ int end_index = 0;
+ for (T i = begin; i < end; i = i + step)
+ end_index++;
+ return end_index;
+ }
+
+ // No implementation - assignment is unsupported.
+ void operator=(const RangeGenerator& other);
+
+ const T begin_;
+ const T end_;
+ const IncrementT step_;
+ // The index for the end() iterator. All the elements in the generated
+ // sequence are indexed (0-based) to aid iterator comparison.
+ const int end_index_;
+}; // class RangeGenerator
+
+
+// Generates values from a pair of STL-style iterators. Used in the
+// ValuesIn() function. The elements are copied from the source range
+// since the source can be located on the stack, and the generator
+// is likely to persist beyond that stack frame.
+template <typename T>
+class ValuesInIteratorRangeGenerator : public ParamGeneratorInterface<T> {
+ public:
+ template <typename ForwardIterator>
+ ValuesInIteratorRangeGenerator(ForwardIterator begin, ForwardIterator end)
+ : container_(begin, end) {}
+ virtual ~ValuesInIteratorRangeGenerator() {}
+
+ virtual ParamIteratorInterface<T>* Begin() const {
+ return new Iterator(this, container_.begin());
+ }
+ virtual ParamIteratorInterface<T>* End() const {
+ return new Iterator(this, container_.end());
+ }
+
+ private:
+ typedef typename ::std::vector<T> ContainerType;
+
+ class Iterator : public ParamIteratorInterface<T> {
+ public:
+ Iterator(const ParamGeneratorInterface<T>* base,
+ typename ContainerType::const_iterator iterator)
+ : base_(base), iterator_(iterator) {}
+ virtual ~Iterator() {}
+
+ virtual const ParamGeneratorInterface<T>* BaseGenerator() const {
+ return base_;
+ }
+ virtual void Advance() {
+ ++iterator_;
+ value_.reset();
+ }
+ virtual ParamIteratorInterface<T>* Clone() const {
+ return new Iterator(*this);
+ }
+ // We need to use cached value referenced by iterator_ because *iterator_
+ // can return a temporary object (and of type other then T), so just
+ // having "return &*iterator_;" doesn't work.
+ // value_ is updated here and not in Advance() because Advance()
+ // can advance iterator_ beyond the end of the range, and we cannot
+ // detect that fact. The client code, on the other hand, is
+ // responsible for not calling Current() on an out-of-range iterator.
+ virtual const T* Current() const {
+ if (value_.get() == NULL)
+ value_.reset(new T(*iterator_));
+ return value_.get();
+ }
+ virtual bool Equals(const ParamIteratorInterface<T>& other) const {
+ // Having the same base generator guarantees that the other
+ // iterator is of the same type and we can downcast.
+ GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
+ << "The program attempted to compare iterators "
+ << "from different generators." << std::endl;
+ return iterator_ ==
+ CheckedDowncastToActualType<const Iterator>(&other)->iterator_;
+ }
+
+ private:
+ Iterator(const Iterator& other)
+ // The explicit constructor call suppresses a false warning
+ // emitted by gcc when supplied with the -Wextra option.
+ : ParamIteratorInterface<T>(),
+ base_(other.base_),
+ iterator_(other.iterator_) {}
+
+ const ParamGeneratorInterface<T>* const base_;
+ typename ContainerType::const_iterator iterator_;
+ // A cached value of *iterator_. We keep it here to allow access by
+ // pointer in the wrapping iterator's operator->().
+ // value_ needs to be mutable to be accessed in Current().
+ // Use of scoped_ptr helps manage cached value's lifetime,
+ // which is bound by the lifespan of the iterator itself.
+ mutable scoped_ptr<const T> value_;
+ }; // class ValuesInIteratorRangeGenerator::Iterator
+
+ // No implementation - assignment is unsupported.
+ void operator=(const ValuesInIteratorRangeGenerator& other);
+
+ const ContainerType container_;
+}; // class ValuesInIteratorRangeGenerator
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// Stores a parameter value and later creates tests parameterized with that
+// value.
+template <class TestClass>
+class ParameterizedTestFactory : public TestFactoryBase {
+ public:
+ typedef typename TestClass::ParamType ParamType;
+ explicit ParameterizedTestFactory(ParamType parameter) :
+ parameter_(parameter) {}
+ virtual Test* CreateTest() {
+ TestClass::SetParam(¶meter_);
+ return new TestClass();
+ }
+
+ private:
+ const ParamType parameter_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(ParameterizedTestFactory);
+};
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// TestMetaFactoryBase is a base class for meta-factories that create
+// test factories for passing into MakeAndRegisterTestInfo function.
+template <class ParamType>
+class TestMetaFactoryBase {
+ public:
+ virtual ~TestMetaFactoryBase() {}
+
+ virtual TestFactoryBase* CreateTestFactory(ParamType parameter) = 0;
+};
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// TestMetaFactory creates test factories for passing into
+// MakeAndRegisterTestInfo function. Since MakeAndRegisterTestInfo receives
+// ownership of test factory pointer, same factory object cannot be passed
+// into that method twice. But ParameterizedTestCaseInfo is going to call
+// it for each Test/Parameter value combination. Thus it needs meta factory
+// creator class.
+template <class TestCase>
+class TestMetaFactory
+ : public TestMetaFactoryBase<typename TestCase::ParamType> {
+ public:
+ typedef typename TestCase::ParamType ParamType;
+
+ TestMetaFactory() {}
+
+ virtual TestFactoryBase* CreateTestFactory(ParamType parameter) {
+ return new ParameterizedTestFactory<TestCase>(parameter);
+ }
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(TestMetaFactory);
+};
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// ParameterizedTestCaseInfoBase is a generic interface
+// to ParameterizedTestCaseInfo classes. ParameterizedTestCaseInfoBase
+// accumulates test information provided by TEST_P macro invocations
+// and generators provided by INSTANTIATE_TEST_CASE_P macro invocations
+// and uses that information to register all resulting test instances
+// in RegisterTests method. The ParameterizeTestCaseRegistry class holds
+// a collection of pointers to the ParameterizedTestCaseInfo objects
+// and calls RegisterTests() on each of them when asked.
+class ParameterizedTestCaseInfoBase {
+ public:
+ virtual ~ParameterizedTestCaseInfoBase() {}
+
+ // Base part of test case name for display purposes.
+ virtual const string& GetTestCaseName() const = 0;
+ // Test case id to verify identity.
+ virtual TypeId GetTestCaseTypeId() const = 0;
+ // UnitTest class invokes this method to register tests in this
+ // test case right before running them in RUN_ALL_TESTS macro.
+ // This method should not be called more then once on any single
+ // instance of a ParameterizedTestCaseInfoBase derived class.
+ virtual void RegisterTests() = 0;
+
+ protected:
+ ParameterizedTestCaseInfoBase() {}
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(ParameterizedTestCaseInfoBase);
+};
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// ParameterizedTestCaseInfo accumulates tests obtained from TEST_P
+// macro invocations for a particular test case and generators
+// obtained from INSTANTIATE_TEST_CASE_P macro invocations for that
+// test case. It registers tests with all values generated by all
+// generators when asked.
+template <class TestCase>
+class ParameterizedTestCaseInfo : public ParameterizedTestCaseInfoBase {
+ public:
+ // ParamType and GeneratorCreationFunc are private types but are required
+ // for declarations of public methods AddTestPattern() and
+ // AddTestCaseInstantiation().
+ typedef typename TestCase::ParamType ParamType;
+ // A function that returns an instance of appropriate generator type.
+ typedef ParamGenerator<ParamType>(GeneratorCreationFunc)();
+
+ explicit ParameterizedTestCaseInfo(const char* name)
+ : test_case_name_(name) {}
+
+ // Test case base name for display purposes.
+ virtual const string& GetTestCaseName() const { return test_case_name_; }
+ // Test case id to verify identity.
+ virtual TypeId GetTestCaseTypeId() const { return GetTypeId<TestCase>(); }
+ // TEST_P macro uses AddTestPattern() to record information
+ // about a single test in a LocalTestInfo structure.
+ // test_case_name is the base name of the test case (without invocation
+ // prefix). test_base_name is the name of an individual test without
+ // parameter index. For the test SequenceA/FooTest.DoBar/1 FooTest is
+ // test case base name and DoBar is test base name.
+ void AddTestPattern(const char* test_case_name,
+ const char* test_base_name,
+ TestMetaFactoryBase<ParamType>* meta_factory) {
+ tests_.push_back(linked_ptr<TestInfo>(new TestInfo(test_case_name,
+ test_base_name,
+ meta_factory)));
+ }
+ // INSTANTIATE_TEST_CASE_P macro uses AddGenerator() to record information
+ // about a generator.
+ int AddTestCaseInstantiation(const string& instantiation_name,
+ GeneratorCreationFunc* func,
+ const char* /* file */,
+ int /* line */) {
+ instantiations_.push_back(::std::make_pair(instantiation_name, func));
+ return 0; // Return value used only to run this method in namespace scope.
+ }
+ // UnitTest class invokes this method to register tests in this test case
+ // test cases right before running tests in RUN_ALL_TESTS macro.
+ // This method should not be called more then once on any single
+ // instance of a ParameterizedTestCaseInfoBase derived class.
+ // UnitTest has a guard to prevent from calling this method more then once.
+ virtual void RegisterTests() {
+ for (typename TestInfoContainer::iterator test_it = tests_.begin();
+ test_it != tests_.end(); ++test_it) {
+ linked_ptr<TestInfo> test_info = *test_it;
+ for (typename InstantiationContainer::iterator gen_it =
+ instantiations_.begin(); gen_it != instantiations_.end();
+ ++gen_it) {
+ const string& instantiation_name = gen_it->first;
+ ParamGenerator<ParamType> generator((*gen_it->second)());
+
+ Message test_case_name_stream;
+ if ( !instantiation_name.empty() )
+ test_case_name_stream << instantiation_name << "/";
+ test_case_name_stream << test_info->test_case_base_name;
+
+ int i = 0;
+ for (typename ParamGenerator<ParamType>::iterator param_it =
+ generator.begin();
+ param_it != generator.end(); ++param_it, ++i) {
+ Message test_name_stream;
+ test_name_stream << test_info->test_base_name << "/" << i;
+ MakeAndRegisterTestInfo(
+ test_case_name_stream.GetString().c_str(),
+ test_name_stream.GetString().c_str(),
+ NULL, // No type parameter.
+ PrintToString(*param_it).c_str(),
+ GetTestCaseTypeId(),
+ TestCase::SetUpTestCase,
+ TestCase::TearDownTestCase,
+ test_info->test_meta_factory->CreateTestFactory(*param_it));
+ } // for param_it
+ } // for gen_it
+ } // for test_it
+ } // RegisterTests
+
+ private:
+ // LocalTestInfo structure keeps information about a single test registered
+ // with TEST_P macro.
+ struct TestInfo {
+ TestInfo(const char* a_test_case_base_name,
+ const char* a_test_base_name,
+ TestMetaFactoryBase<ParamType>* a_test_meta_factory) :
+ test_case_base_name(a_test_case_base_name),
+ test_base_name(a_test_base_name),
+ test_meta_factory(a_test_meta_factory) {}
+
+ const string test_case_base_name;
+ const string test_base_name;
+ const scoped_ptr<TestMetaFactoryBase<ParamType> > test_meta_factory;
+ };
+ typedef ::std::vector<linked_ptr<TestInfo> > TestInfoContainer;
+ // Keeps pairs of <Instantiation name, Sequence generator creation function>
+ // received from INSTANTIATE_TEST_CASE_P macros.
+ typedef ::std::vector<std::pair<string, GeneratorCreationFunc*> >
+ InstantiationContainer;
+
+ const string test_case_name_;
+ TestInfoContainer tests_;
+ InstantiationContainer instantiations_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(ParameterizedTestCaseInfo);
+}; // class ParameterizedTestCaseInfo
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// ParameterizedTestCaseRegistry contains a map of ParameterizedTestCaseInfoBase
+// classes accessed by test case names. TEST_P and INSTANTIATE_TEST_CASE_P
+// macros use it to locate their corresponding ParameterizedTestCaseInfo
+// descriptors.
+class ParameterizedTestCaseRegistry {
+ public:
+ ParameterizedTestCaseRegistry() {}
+ ~ParameterizedTestCaseRegistry() {
+ for (TestCaseInfoContainer::iterator it = test_case_infos_.begin();
+ it != test_case_infos_.end(); ++it) {
+ delete *it;
+ }
+ }
+
+ // Looks up or creates and returns a structure containing information about
+ // tests and instantiations of a particular test case.
+ template <class TestCase>
+ ParameterizedTestCaseInfo<TestCase>* GetTestCasePatternHolder(
+ const char* test_case_name,
+ const char* file,
+ int line) {
+ ParameterizedTestCaseInfo<TestCase>* typed_test_info = NULL;
+ for (TestCaseInfoContainer::iterator it = test_case_infos_.begin();
+ it != test_case_infos_.end(); ++it) {
+ if ((*it)->GetTestCaseName() == test_case_name) {
+ if ((*it)->GetTestCaseTypeId() != GetTypeId<TestCase>()) {
+ // Complain about incorrect usage of Google Test facilities
+ // and terminate the program since we cannot guaranty correct
+ // test case setup and tear-down in this case.
+ ReportInvalidTestCaseType(test_case_name, file, line);
+ posix::Abort();
+ } else {
+ // At this point we are sure that the object we found is of the same
+ // type we are looking for, so we downcast it to that type
+ // without further checks.
+ typed_test_info = CheckedDowncastToActualType<
+ ParameterizedTestCaseInfo<TestCase> >(*it);
+ }
+ break;
+ }
+ }
+ if (typed_test_info == NULL) {
+ typed_test_info = new ParameterizedTestCaseInfo<TestCase>(test_case_name);
+ test_case_infos_.push_back(typed_test_info);
+ }
+ return typed_test_info;
+ }
+ void RegisterTests() {
+ for (TestCaseInfoContainer::iterator it = test_case_infos_.begin();
+ it != test_case_infos_.end(); ++it) {
+ (*it)->RegisterTests();
+ }
+ }
+
+ private:
+ typedef ::std::vector<ParameterizedTestCaseInfoBase*> TestCaseInfoContainer;
+
+ TestCaseInfoContainer test_case_infos_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(ParameterizedTestCaseRegistry);
+};
+
+} // namespace internal
+} // namespace testing
+
+#endif // GTEST_HAS_PARAM_TEST
+
+#endif // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PARAM_UTIL_H_
+// This file was GENERATED by command:
+// pump.py gtest-param-util-generated.h.pump
+// DO NOT EDIT BY HAND!!!
+
+// Copyright 2008 Google Inc.
+// All Rights Reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: vladl@google.com (Vlad Losev)
+
+// Type and function utilities for implementing parameterized tests.
+// This file is generated by a SCRIPT. DO NOT EDIT BY HAND!
+//
+// Currently Google Test supports at most 50 arguments in Values,
+// and at most 10 arguments in Combine. Please contact
+// googletestframework@googlegroups.com if you need more.
+// Please note that the number of arguments to Combine is limited
+// by the maximum arity of the implementation of tr1::tuple which is
+// currently set at 10.
+
+#ifndef GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PARAM_UTIL_GENERATED_H_
+#define GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PARAM_UTIL_GENERATED_H_
+
+// scripts/fuse_gtest.py depends on gtest's own header being #included
+// *unconditionally*. Therefore these #includes cannot be moved
+// inside #if GTEST_HAS_PARAM_TEST.
+
+#if GTEST_HAS_PARAM_TEST
+
+namespace testing {
+
+// Forward declarations of ValuesIn(), which is implemented in
+// include/gtest/gtest-param-test.h.
+template <typename ForwardIterator>
+internal::ParamGenerator<
+ typename ::testing::internal::IteratorTraits<ForwardIterator>::value_type>
+ValuesIn(ForwardIterator begin, ForwardIterator end);
+
+template <typename T, size_t N>
+internal::ParamGenerator<T> ValuesIn(const T (&array)[N]);
+
+template <class Container>
+internal::ParamGenerator<typename Container::value_type> ValuesIn(
+ const Container& container);
+
+namespace internal {
+
+// Used in the Values() function to provide polymorphic capabilities.
+template <typename T1>
+class ValueArray1 {
+ public:
+ explicit ValueArray1(T1 v1) : v1_(v1) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const { return ValuesIn(&v1_, &v1_ + 1); }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray1& other);
+
+ const T1 v1_;
+};
+
+template <typename T1, typename T2>
+class ValueArray2 {
+ public:
+ ValueArray2(T1 v1, T2 v2) : v1_(v1), v2_(v2) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray2& other);
+
+ const T1 v1_;
+ const T2 v2_;
+};
+
+template <typename T1, typename T2, typename T3>
+class ValueArray3 {
+ public:
+ ValueArray3(T1 v1, T2 v2, T3 v3) : v1_(v1), v2_(v2), v3_(v3) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray3& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4>
+class ValueArray4 {
+ public:
+ ValueArray4(T1 v1, T2 v2, T3 v3, T4 v4) : v1_(v1), v2_(v2), v3_(v3),
+ v4_(v4) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray4& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5>
+class ValueArray5 {
+ public:
+ ValueArray5(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5) : v1_(v1), v2_(v2), v3_(v3),
+ v4_(v4), v5_(v5) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray5& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6>
+class ValueArray6 {
+ public:
+ ValueArray6(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6) : v1_(v1), v2_(v2),
+ v3_(v3), v4_(v4), v5_(v5), v6_(v6) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray6& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7>
+class ValueArray7 {
+ public:
+ ValueArray7(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7) : v1_(v1),
+ v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray7& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8>
+class ValueArray8 {
+ public:
+ ValueArray8(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7,
+ T8 v8) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+ v8_(v8) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray8& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9>
+class ValueArray9 {
+ public:
+ ValueArray9(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8,
+ T9 v9) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+ v8_(v8), v9_(v9) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray9& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10>
+class ValueArray10 {
+ public:
+ ValueArray10(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+ v8_(v8), v9_(v9), v10_(v10) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray10& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11>
+class ValueArray11 {
+ public:
+ ValueArray11(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6),
+ v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray11& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12>
+class ValueArray12 {
+ public:
+ ValueArray12(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5),
+ v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray12& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13>
+class ValueArray13 {
+ public:
+ ValueArray13(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13) : v1_(v1), v2_(v2), v3_(v3), v4_(v4),
+ v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11),
+ v12_(v12), v13_(v13) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray13& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14>
+class ValueArray14 {
+ public:
+ ValueArray14(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14) : v1_(v1), v2_(v2), v3_(v3),
+ v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
+ v11_(v11), v12_(v12), v13_(v13), v14_(v14) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray14& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15>
+class ValueArray15 {
+ public:
+ ValueArray15(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15) : v1_(v1), v2_(v2),
+ v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
+ v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray15& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16>
+class ValueArray16 {
+ public:
+ ValueArray16(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16) : v1_(v1),
+ v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9),
+ v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15),
+ v16_(v16) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray16& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17>
+class ValueArray17 {
+ public:
+ ValueArray17(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16,
+ T17 v17) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+ v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
+ v15_(v15), v16_(v16), v17_(v17) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray17& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18>
+class ValueArray18 {
+ public:
+ ValueArray18(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+ v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
+ v15_(v15), v16_(v16), v17_(v17), v18_(v18) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_, v18_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray18& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19>
+class ValueArray19 {
+ public:
+ ValueArray19(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6),
+ v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13),
+ v14_(v14), v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray19& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20>
+class ValueArray20 {
+ public:
+ ValueArray20(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5),
+ v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12),
+ v13_(v13), v14_(v14), v15_(v15), v16_(v16), v17_(v17), v18_(v18),
+ v19_(v19), v20_(v20) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray20& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21>
+class ValueArray21 {
+ public:
+ ValueArray21(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21) : v1_(v1), v2_(v2), v3_(v3), v4_(v4),
+ v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11),
+ v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16), v17_(v17),
+ v18_(v18), v19_(v19), v20_(v20), v21_(v21) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray21& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22>
+class ValueArray22 {
+ public:
+ ValueArray22(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22) : v1_(v1), v2_(v2), v3_(v3),
+ v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
+ v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16),
+ v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray22& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23>
+class ValueArray23 {
+ public:
+ ValueArray23(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23) : v1_(v1), v2_(v2),
+ v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
+ v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16),
+ v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22),
+ v23_(v23) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_,
+ v23_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray23& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24>
+class ValueArray24 {
+ public:
+ ValueArray24(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24) : v1_(v1),
+ v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9),
+ v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15),
+ v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21),
+ v22_(v22), v23_(v23), v24_(v24) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
+ v24_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray24& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25>
+class ValueArray25 {
+ public:
+ ValueArray25(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24,
+ T25 v25) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+ v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
+ v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20),
+ v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
+ v24_, v25_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray25& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26>
+class ValueArray26 {
+ public:
+ ValueArray26(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+ v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
+ v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20),
+ v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
+ v24_, v25_, v26_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray26& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27>
+class ValueArray27 {
+ public:
+ ValueArray27(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6),
+ v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13),
+ v14_(v14), v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19),
+ v20_(v20), v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25),
+ v26_(v26), v27_(v27) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
+ v24_, v25_, v26_, v27_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray27& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28>
+class ValueArray28 {
+ public:
+ ValueArray28(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5),
+ v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12),
+ v13_(v13), v14_(v14), v15_(v15), v16_(v16), v17_(v17), v18_(v18),
+ v19_(v19), v20_(v20), v21_(v21), v22_(v22), v23_(v23), v24_(v24),
+ v25_(v25), v26_(v26), v27_(v27), v28_(v28) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
+ v24_, v25_, v26_, v27_, v28_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray28& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29>
+class ValueArray29 {
+ public:
+ ValueArray29(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29) : v1_(v1), v2_(v2), v3_(v3), v4_(v4),
+ v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11),
+ v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16), v17_(v17),
+ v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22), v23_(v23),
+ v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28), v29_(v29) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
+ v24_, v25_, v26_, v27_, v28_, v29_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray29& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30>
+class ValueArray30 {
+ public:
+ ValueArray30(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30) : v1_(v1), v2_(v2), v3_(v3),
+ v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
+ v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16),
+ v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22),
+ v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28),
+ v29_(v29), v30_(v30) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
+ v24_, v25_, v26_, v27_, v28_, v29_, v30_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray30& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31>
+class ValueArray31 {
+ public:
+ ValueArray31(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31) : v1_(v1), v2_(v2),
+ v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
+ v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16),
+ v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22),
+ v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28),
+ v29_(v29), v30_(v30), v31_(v31) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
+ v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray31& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32>
+class ValueArray32 {
+ public:
+ ValueArray32(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32) : v1_(v1),
+ v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9),
+ v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15),
+ v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21),
+ v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27),
+ v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
+ v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray32& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33>
+class ValueArray33 {
+ public:
+ ValueArray33(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32,
+ T33 v33) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+ v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
+ v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20),
+ v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26),
+ v27_(v27), v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32),
+ v33_(v33) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
+ v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray33& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34>
+class ValueArray34 {
+ public:
+ ValueArray34(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+ v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
+ v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20),
+ v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26),
+ v27_(v27), v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32),
+ v33_(v33), v34_(v34) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
+ v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray34& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35>
+class ValueArray35 {
+ public:
+ ValueArray35(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6),
+ v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13),
+ v14_(v14), v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19),
+ v20_(v20), v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25),
+ v26_(v26), v27_(v27), v28_(v28), v29_(v29), v30_(v30), v31_(v31),
+ v32_(v32), v33_(v33), v34_(v34), v35_(v35) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
+ v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_,
+ v35_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray35& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+ const T35 v35_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36>
+class ValueArray36 {
+ public:
+ ValueArray36(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5),
+ v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12),
+ v13_(v13), v14_(v14), v15_(v15), v16_(v16), v17_(v17), v18_(v18),
+ v19_(v19), v20_(v20), v21_(v21), v22_(v22), v23_(v23), v24_(v24),
+ v25_(v25), v26_(v26), v27_(v27), v28_(v28), v29_(v29), v30_(v30),
+ v31_(v31), v32_(v32), v33_(v33), v34_(v34), v35_(v35), v36_(v36) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
+ v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_, v35_,
+ v36_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray36& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+ const T35 v35_;
+ const T36 v36_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37>
+class ValueArray37 {
+ public:
+ ValueArray37(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37) : v1_(v1), v2_(v2), v3_(v3), v4_(v4),
+ v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11),
+ v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16), v17_(v17),
+ v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22), v23_(v23),
+ v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28), v29_(v29),
+ v30_(v30), v31_(v31), v32_(v32), v33_(v33), v34_(v34), v35_(v35),
+ v36_(v36), v37_(v37) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
+ v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_, v35_,
+ v36_, v37_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray37& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+ const T35 v35_;
+ const T36 v36_;
+ const T37 v37_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38>
+class ValueArray38 {
+ public:
+ ValueArray38(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38) : v1_(v1), v2_(v2), v3_(v3),
+ v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
+ v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16),
+ v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22),
+ v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28),
+ v29_(v29), v30_(v30), v31_(v31), v32_(v32), v33_(v33), v34_(v34),
+ v35_(v35), v36_(v36), v37_(v37), v38_(v38) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
+ v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_, v35_,
+ v36_, v37_, v38_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray38& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+ const T35 v35_;
+ const T36 v36_;
+ const T37 v37_;
+ const T38 v38_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39>
+class ValueArray39 {
+ public:
+ ValueArray39(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39) : v1_(v1), v2_(v2),
+ v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
+ v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16),
+ v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22),
+ v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28),
+ v29_(v29), v30_(v30), v31_(v31), v32_(v32), v33_(v33), v34_(v34),
+ v35_(v35), v36_(v36), v37_(v37), v38_(v38), v39_(v39) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
+ v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_, v35_,
+ v36_, v37_, v38_, v39_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray39& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+ const T35 v35_;
+ const T36 v36_;
+ const T37 v37_;
+ const T38 v38_;
+ const T39 v39_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40>
+class ValueArray40 {
+ public:
+ ValueArray40(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40) : v1_(v1),
+ v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9),
+ v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15),
+ v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21),
+ v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27),
+ v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32), v33_(v33),
+ v34_(v34), v35_(v35), v36_(v36), v37_(v37), v38_(v38), v39_(v39),
+ v40_(v40) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
+ v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_, v35_,
+ v36_, v37_, v38_, v39_, v40_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray40& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+ const T35 v35_;
+ const T36 v36_;
+ const T37 v37_;
+ const T38 v38_;
+ const T39 v39_;
+ const T40 v40_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41>
+class ValueArray41 {
+ public:
+ ValueArray41(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40,
+ T41 v41) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+ v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
+ v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20),
+ v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26),
+ v27_(v27), v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32),
+ v33_(v33), v34_(v34), v35_(v35), v36_(v36), v37_(v37), v38_(v38),
+ v39_(v39), v40_(v40), v41_(v41) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
+ v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_, v35_,
+ v36_, v37_, v38_, v39_, v40_, v41_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray41& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+ const T35 v35_;
+ const T36 v36_;
+ const T37 v37_;
+ const T38 v38_;
+ const T39 v39_;
+ const T40 v40_;
+ const T41 v41_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42>
+class ValueArray42 {
+ public:
+ ValueArray42(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+ T42 v42) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+ v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
+ v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20),
+ v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26),
+ v27_(v27), v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32),
+ v33_(v33), v34_(v34), v35_(v35), v36_(v36), v37_(v37), v38_(v38),
+ v39_(v39), v40_(v40), v41_(v41), v42_(v42) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
+ v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_, v35_,
+ v36_, v37_, v38_, v39_, v40_, v41_, v42_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray42& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+ const T35 v35_;
+ const T36 v36_;
+ const T37 v37_;
+ const T38 v38_;
+ const T39 v39_;
+ const T40 v40_;
+ const T41 v41_;
+ const T42 v42_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43>
+class ValueArray43 {
+ public:
+ ValueArray43(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+ T42 v42, T43 v43) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6),
+ v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13),
+ v14_(v14), v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19),
+ v20_(v20), v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25),
+ v26_(v26), v27_(v27), v28_(v28), v29_(v29), v30_(v30), v31_(v31),
+ v32_(v32), v33_(v33), v34_(v34), v35_(v35), v36_(v36), v37_(v37),
+ v38_(v38), v39_(v39), v40_(v40), v41_(v41), v42_(v42), v43_(v43) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
+ v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_, v35_,
+ v36_, v37_, v38_, v39_, v40_, v41_, v42_, v43_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray43& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+ const T35 v35_;
+ const T36 v36_;
+ const T37 v37_;
+ const T38 v38_;
+ const T39 v39_;
+ const T40 v40_;
+ const T41 v41_;
+ const T42 v42_;
+ const T43 v43_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44>
+class ValueArray44 {
+ public:
+ ValueArray44(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+ T42 v42, T43 v43, T44 v44) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5),
+ v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12),
+ v13_(v13), v14_(v14), v15_(v15), v16_(v16), v17_(v17), v18_(v18),
+ v19_(v19), v20_(v20), v21_(v21), v22_(v22), v23_(v23), v24_(v24),
+ v25_(v25), v26_(v26), v27_(v27), v28_(v28), v29_(v29), v30_(v30),
+ v31_(v31), v32_(v32), v33_(v33), v34_(v34), v35_(v35), v36_(v36),
+ v37_(v37), v38_(v38), v39_(v39), v40_(v40), v41_(v41), v42_(v42),
+ v43_(v43), v44_(v44) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
+ v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_, v35_,
+ v36_, v37_, v38_, v39_, v40_, v41_, v42_, v43_, v44_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray44& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+ const T35 v35_;
+ const T36 v36_;
+ const T37 v37_;
+ const T38 v38_;
+ const T39 v39_;
+ const T40 v40_;
+ const T41 v41_;
+ const T42 v42_;
+ const T43 v43_;
+ const T44 v44_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45>
+class ValueArray45 {
+ public:
+ ValueArray45(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+ T42 v42, T43 v43, T44 v44, T45 v45) : v1_(v1), v2_(v2), v3_(v3), v4_(v4),
+ v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10), v11_(v11),
+ v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16), v17_(v17),
+ v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22), v23_(v23),
+ v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28), v29_(v29),
+ v30_(v30), v31_(v31), v32_(v32), v33_(v33), v34_(v34), v35_(v35),
+ v36_(v36), v37_(v37), v38_(v38), v39_(v39), v40_(v40), v41_(v41),
+ v42_(v42), v43_(v43), v44_(v44), v45_(v45) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
+ v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_, v35_,
+ v36_, v37_, v38_, v39_, v40_, v41_, v42_, v43_, v44_, v45_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray45& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+ const T35 v35_;
+ const T36 v36_;
+ const T37 v37_;
+ const T38 v38_;
+ const T39 v39_;
+ const T40 v40_;
+ const T41 v41_;
+ const T42 v42_;
+ const T43 v43_;
+ const T44 v44_;
+ const T45 v45_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46>
+class ValueArray46 {
+ public:
+ ValueArray46(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+ T42 v42, T43 v43, T44 v44, T45 v45, T46 v46) : v1_(v1), v2_(v2), v3_(v3),
+ v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
+ v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16),
+ v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22),
+ v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28),
+ v29_(v29), v30_(v30), v31_(v31), v32_(v32), v33_(v33), v34_(v34),
+ v35_(v35), v36_(v36), v37_(v37), v38_(v38), v39_(v39), v40_(v40),
+ v41_(v41), v42_(v42), v43_(v43), v44_(v44), v45_(v45), v46_(v46) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
+ v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_, v35_,
+ v36_, v37_, v38_, v39_, v40_, v41_, v42_, v43_, v44_, v45_, v46_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray46& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+ const T35 v35_;
+ const T36 v36_;
+ const T37 v37_;
+ const T38 v38_;
+ const T39 v39_;
+ const T40 v40_;
+ const T41 v41_;
+ const T42 v42_;
+ const T43 v43_;
+ const T44 v44_;
+ const T45 v45_;
+ const T46 v46_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46, typename T47>
+class ValueArray47 {
+ public:
+ ValueArray47(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+ T42 v42, T43 v43, T44 v44, T45 v45, T46 v46, T47 v47) : v1_(v1), v2_(v2),
+ v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9), v10_(v10),
+ v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15), v16_(v16),
+ v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21), v22_(v22),
+ v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27), v28_(v28),
+ v29_(v29), v30_(v30), v31_(v31), v32_(v32), v33_(v33), v34_(v34),
+ v35_(v35), v36_(v36), v37_(v37), v38_(v38), v39_(v39), v40_(v40),
+ v41_(v41), v42_(v42), v43_(v43), v44_(v44), v45_(v45), v46_(v46),
+ v47_(v47) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
+ v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_, v35_,
+ v36_, v37_, v38_, v39_, v40_, v41_, v42_, v43_, v44_, v45_, v46_,
+ v47_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray47& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+ const T35 v35_;
+ const T36 v36_;
+ const T37 v37_;
+ const T38 v38_;
+ const T39 v39_;
+ const T40 v40_;
+ const T41 v41_;
+ const T42 v42_;
+ const T43 v43_;
+ const T44 v44_;
+ const T45 v45_;
+ const T46 v46_;
+ const T47 v47_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46, typename T47, typename T48>
+class ValueArray48 {
+ public:
+ ValueArray48(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+ T42 v42, T43 v43, T44 v44, T45 v45, T46 v46, T47 v47, T48 v48) : v1_(v1),
+ v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7), v8_(v8), v9_(v9),
+ v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14), v15_(v15),
+ v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20), v21_(v21),
+ v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26), v27_(v27),
+ v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32), v33_(v33),
+ v34_(v34), v35_(v35), v36_(v36), v37_(v37), v38_(v38), v39_(v39),
+ v40_(v40), v41_(v41), v42_(v42), v43_(v43), v44_(v44), v45_(v45),
+ v46_(v46), v47_(v47), v48_(v48) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
+ v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_, v35_,
+ v36_, v37_, v38_, v39_, v40_, v41_, v42_, v43_, v44_, v45_, v46_, v47_,
+ v48_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray48& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+ const T35 v35_;
+ const T36 v36_;
+ const T37 v37_;
+ const T38 v38_;
+ const T39 v39_;
+ const T40 v40_;
+ const T41 v41_;
+ const T42 v42_;
+ const T43 v43_;
+ const T44 v44_;
+ const T45 v45_;
+ const T46 v46_;
+ const T47 v47_;
+ const T48 v48_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46, typename T47, typename T48, typename T49>
+class ValueArray49 {
+ public:
+ ValueArray49(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+ T42 v42, T43 v43, T44 v44, T45 v45, T46 v46, T47 v47, T48 v48,
+ T49 v49) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+ v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
+ v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20),
+ v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26),
+ v27_(v27), v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32),
+ v33_(v33), v34_(v34), v35_(v35), v36_(v36), v37_(v37), v38_(v38),
+ v39_(v39), v40_(v40), v41_(v41), v42_(v42), v43_(v43), v44_(v44),
+ v45_(v45), v46_(v46), v47_(v47), v48_(v48), v49_(v49) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
+ v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_, v35_,
+ v36_, v37_, v38_, v39_, v40_, v41_, v42_, v43_, v44_, v45_, v46_, v47_,
+ v48_, v49_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray49& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+ const T35 v35_;
+ const T36 v36_;
+ const T37 v37_;
+ const T38 v38_;
+ const T39 v39_;
+ const T40 v40_;
+ const T41 v41_;
+ const T42 v42_;
+ const T43 v43_;
+ const T44 v44_;
+ const T45 v45_;
+ const T46 v46_;
+ const T47 v47_;
+ const T48 v48_;
+ const T49 v49_;
+};
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46, typename T47, typename T48, typename T49, typename T50>
+class ValueArray50 {
+ public:
+ ValueArray50(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+ T42 v42, T43 v43, T44 v44, T45 v45, T46 v46, T47 v47, T48 v48, T49 v49,
+ T50 v50) : v1_(v1), v2_(v2), v3_(v3), v4_(v4), v5_(v5), v6_(v6), v7_(v7),
+ v8_(v8), v9_(v9), v10_(v10), v11_(v11), v12_(v12), v13_(v13), v14_(v14),
+ v15_(v15), v16_(v16), v17_(v17), v18_(v18), v19_(v19), v20_(v20),
+ v21_(v21), v22_(v22), v23_(v23), v24_(v24), v25_(v25), v26_(v26),
+ v27_(v27), v28_(v28), v29_(v29), v30_(v30), v31_(v31), v32_(v32),
+ v33_(v33), v34_(v34), v35_(v35), v36_(v36), v37_(v37), v38_(v38),
+ v39_(v39), v40_(v40), v41_(v41), v42_(v42), v43_(v43), v44_(v44),
+ v45_(v45), v46_(v46), v47_(v47), v48_(v48), v49_(v49), v50_(v50) {}
+
+ template <typename T>
+ operator ParamGenerator<T>() const {
+ const T array[] = {v1_, v2_, v3_, v4_, v5_, v6_, v7_, v8_, v9_, v10_, v11_,
+ v12_, v13_, v14_, v15_, v16_, v17_, v18_, v19_, v20_, v21_, v22_, v23_,
+ v24_, v25_, v26_, v27_, v28_, v29_, v30_, v31_, v32_, v33_, v34_, v35_,
+ v36_, v37_, v38_, v39_, v40_, v41_, v42_, v43_, v44_, v45_, v46_, v47_,
+ v48_, v49_, v50_};
+ return ValuesIn(array);
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const ValueArray50& other);
+
+ const T1 v1_;
+ const T2 v2_;
+ const T3 v3_;
+ const T4 v4_;
+ const T5 v5_;
+ const T6 v6_;
+ const T7 v7_;
+ const T8 v8_;
+ const T9 v9_;
+ const T10 v10_;
+ const T11 v11_;
+ const T12 v12_;
+ const T13 v13_;
+ const T14 v14_;
+ const T15 v15_;
+ const T16 v16_;
+ const T17 v17_;
+ const T18 v18_;
+ const T19 v19_;
+ const T20 v20_;
+ const T21 v21_;
+ const T22 v22_;
+ const T23 v23_;
+ const T24 v24_;
+ const T25 v25_;
+ const T26 v26_;
+ const T27 v27_;
+ const T28 v28_;
+ const T29 v29_;
+ const T30 v30_;
+ const T31 v31_;
+ const T32 v32_;
+ const T33 v33_;
+ const T34 v34_;
+ const T35 v35_;
+ const T36 v36_;
+ const T37 v37_;
+ const T38 v38_;
+ const T39 v39_;
+ const T40 v40_;
+ const T41 v41_;
+ const T42 v42_;
+ const T43 v43_;
+ const T44 v44_;
+ const T45 v45_;
+ const T46 v46_;
+ const T47 v47_;
+ const T48 v48_;
+ const T49 v49_;
+ const T50 v50_;
+};
+
+# if GTEST_HAS_COMBINE
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// Generates values from the Cartesian product of values produced
+// by the argument generators.
+//
+template <typename T1, typename T2>
+class CartesianProductGenerator2
+ : public ParamGeneratorInterface< ::std::tr1::tuple<T1, T2> > {
+ public:
+ typedef ::std::tr1::tuple<T1, T2> ParamType;
+
+ CartesianProductGenerator2(const ParamGenerator<T1>& g1,
+ const ParamGenerator<T2>& g2)
+ : g1_(g1), g2_(g2) {}
+ virtual ~CartesianProductGenerator2() {}
+
+ virtual ParamIteratorInterface<ParamType>* Begin() const {
+ return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin());
+ }
+ virtual ParamIteratorInterface<ParamType>* End() const {
+ return new Iterator(this, g1_, g1_.end(), g2_, g2_.end());
+ }
+
+ private:
+ class Iterator : public ParamIteratorInterface<ParamType> {
+ public:
+ Iterator(const ParamGeneratorInterface<ParamType>* base,
+ const ParamGenerator<T1>& g1,
+ const typename ParamGenerator<T1>::iterator& current1,
+ const ParamGenerator<T2>& g2,
+ const typename ParamGenerator<T2>::iterator& current2)
+ : base_(base),
+ begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
+ begin2_(g2.begin()), end2_(g2.end()), current2_(current2) {
+ ComputeCurrentValue();
+ }
+ virtual ~Iterator() {}
+
+ virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
+ return base_;
+ }
+ // Advance should not be called on beyond-of-range iterators
+ // so no component iterators must be beyond end of range, either.
+ virtual void Advance() {
+ assert(!AtEnd());
+ ++current2_;
+ if (current2_ == end2_) {
+ current2_ = begin2_;
+ ++current1_;
+ }
+ ComputeCurrentValue();
+ }
+ virtual ParamIteratorInterface<ParamType>* Clone() const {
+ return new Iterator(*this);
+ }
+ virtual const ParamType* Current() const { return ¤t_value_; }
+ virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
+ // Having the same base generator guarantees that the other
+ // iterator is of the same type and we can downcast.
+ GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
+ << "The program attempted to compare iterators "
+ << "from different generators." << std::endl;
+ const Iterator* typed_other =
+ CheckedDowncastToActualType<const Iterator>(&other);
+ // We must report iterators equal if they both point beyond their
+ // respective ranges. That can happen in a variety of fashions,
+ // so we have to consult AtEnd().
+ return (AtEnd() && typed_other->AtEnd()) ||
+ (
+ current1_ == typed_other->current1_ &&
+ current2_ == typed_other->current2_);
+ }
+
+ private:
+ Iterator(const Iterator& other)
+ : base_(other.base_),
+ begin1_(other.begin1_),
+ end1_(other.end1_),
+ current1_(other.current1_),
+ begin2_(other.begin2_),
+ end2_(other.end2_),
+ current2_(other.current2_) {
+ ComputeCurrentValue();
+ }
+
+ void ComputeCurrentValue() {
+ if (!AtEnd())
+ current_value_ = ParamType(*current1_, *current2_);
+ }
+ bool AtEnd() const {
+ // We must report iterator past the end of the range when either of the
+ // component iterators has reached the end of its range.
+ return
+ current1_ == end1_ ||
+ current2_ == end2_;
+ }
+
+ // No implementation - assignment is unsupported.
+ void operator=(const Iterator& other);
+
+ const ParamGeneratorInterface<ParamType>* const base_;
+ // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
+ // current[i]_ is the actual traversing iterator.
+ const typename ParamGenerator<T1>::iterator begin1_;
+ const typename ParamGenerator<T1>::iterator end1_;
+ typename ParamGenerator<T1>::iterator current1_;
+ const typename ParamGenerator<T2>::iterator begin2_;
+ const typename ParamGenerator<T2>::iterator end2_;
+ typename ParamGenerator<T2>::iterator current2_;
+ ParamType current_value_;
+ }; // class CartesianProductGenerator2::Iterator
+
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductGenerator2& other);
+
+ const ParamGenerator<T1> g1_;
+ const ParamGenerator<T2> g2_;
+}; // class CartesianProductGenerator2
+
+
+template <typename T1, typename T2, typename T3>
+class CartesianProductGenerator3
+ : public ParamGeneratorInterface< ::std::tr1::tuple<T1, T2, T3> > {
+ public:
+ typedef ::std::tr1::tuple<T1, T2, T3> ParamType;
+
+ CartesianProductGenerator3(const ParamGenerator<T1>& g1,
+ const ParamGenerator<T2>& g2, const ParamGenerator<T3>& g3)
+ : g1_(g1), g2_(g2), g3_(g3) {}
+ virtual ~CartesianProductGenerator3() {}
+
+ virtual ParamIteratorInterface<ParamType>* Begin() const {
+ return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin(), g3_,
+ g3_.begin());
+ }
+ virtual ParamIteratorInterface<ParamType>* End() const {
+ return new Iterator(this, g1_, g1_.end(), g2_, g2_.end(), g3_, g3_.end());
+ }
+
+ private:
+ class Iterator : public ParamIteratorInterface<ParamType> {
+ public:
+ Iterator(const ParamGeneratorInterface<ParamType>* base,
+ const ParamGenerator<T1>& g1,
+ const typename ParamGenerator<T1>::iterator& current1,
+ const ParamGenerator<T2>& g2,
+ const typename ParamGenerator<T2>::iterator& current2,
+ const ParamGenerator<T3>& g3,
+ const typename ParamGenerator<T3>::iterator& current3)
+ : base_(base),
+ begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
+ begin2_(g2.begin()), end2_(g2.end()), current2_(current2),
+ begin3_(g3.begin()), end3_(g3.end()), current3_(current3) {
+ ComputeCurrentValue();
+ }
+ virtual ~Iterator() {}
+
+ virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
+ return base_;
+ }
+ // Advance should not be called on beyond-of-range iterators
+ // so no component iterators must be beyond end of range, either.
+ virtual void Advance() {
+ assert(!AtEnd());
+ ++current3_;
+ if (current3_ == end3_) {
+ current3_ = begin3_;
+ ++current2_;
+ }
+ if (current2_ == end2_) {
+ current2_ = begin2_;
+ ++current1_;
+ }
+ ComputeCurrentValue();
+ }
+ virtual ParamIteratorInterface<ParamType>* Clone() const {
+ return new Iterator(*this);
+ }
+ virtual const ParamType* Current() const { return ¤t_value_; }
+ virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
+ // Having the same base generator guarantees that the other
+ // iterator is of the same type and we can downcast.
+ GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
+ << "The program attempted to compare iterators "
+ << "from different generators." << std::endl;
+ const Iterator* typed_other =
+ CheckedDowncastToActualType<const Iterator>(&other);
+ // We must report iterators equal if they both point beyond their
+ // respective ranges. That can happen in a variety of fashions,
+ // so we have to consult AtEnd().
+ return (AtEnd() && typed_other->AtEnd()) ||
+ (
+ current1_ == typed_other->current1_ &&
+ current2_ == typed_other->current2_ &&
+ current3_ == typed_other->current3_);
+ }
+
+ private:
+ Iterator(const Iterator& other)
+ : base_(other.base_),
+ begin1_(other.begin1_),
+ end1_(other.end1_),
+ current1_(other.current1_),
+ begin2_(other.begin2_),
+ end2_(other.end2_),
+ current2_(other.current2_),
+ begin3_(other.begin3_),
+ end3_(other.end3_),
+ current3_(other.current3_) {
+ ComputeCurrentValue();
+ }
+
+ void ComputeCurrentValue() {
+ if (!AtEnd())
+ current_value_ = ParamType(*current1_, *current2_, *current3_);
+ }
+ bool AtEnd() const {
+ // We must report iterator past the end of the range when either of the
+ // component iterators has reached the end of its range.
+ return
+ current1_ == end1_ ||
+ current2_ == end2_ ||
+ current3_ == end3_;
+ }
+
+ // No implementation - assignment is unsupported.
+ void operator=(const Iterator& other);
+
+ const ParamGeneratorInterface<ParamType>* const base_;
+ // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
+ // current[i]_ is the actual traversing iterator.
+ const typename ParamGenerator<T1>::iterator begin1_;
+ const typename ParamGenerator<T1>::iterator end1_;
+ typename ParamGenerator<T1>::iterator current1_;
+ const typename ParamGenerator<T2>::iterator begin2_;
+ const typename ParamGenerator<T2>::iterator end2_;
+ typename ParamGenerator<T2>::iterator current2_;
+ const typename ParamGenerator<T3>::iterator begin3_;
+ const typename ParamGenerator<T3>::iterator end3_;
+ typename ParamGenerator<T3>::iterator current3_;
+ ParamType current_value_;
+ }; // class CartesianProductGenerator3::Iterator
+
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductGenerator3& other);
+
+ const ParamGenerator<T1> g1_;
+ const ParamGenerator<T2> g2_;
+ const ParamGenerator<T3> g3_;
+}; // class CartesianProductGenerator3
+
+
+template <typename T1, typename T2, typename T3, typename T4>
+class CartesianProductGenerator4
+ : public ParamGeneratorInterface< ::std::tr1::tuple<T1, T2, T3, T4> > {
+ public:
+ typedef ::std::tr1::tuple<T1, T2, T3, T4> ParamType;
+
+ CartesianProductGenerator4(const ParamGenerator<T1>& g1,
+ const ParamGenerator<T2>& g2, const ParamGenerator<T3>& g3,
+ const ParamGenerator<T4>& g4)
+ : g1_(g1), g2_(g2), g3_(g3), g4_(g4) {}
+ virtual ~CartesianProductGenerator4() {}
+
+ virtual ParamIteratorInterface<ParamType>* Begin() const {
+ return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin(), g3_,
+ g3_.begin(), g4_, g4_.begin());
+ }
+ virtual ParamIteratorInterface<ParamType>* End() const {
+ return new Iterator(this, g1_, g1_.end(), g2_, g2_.end(), g3_, g3_.end(),
+ g4_, g4_.end());
+ }
+
+ private:
+ class Iterator : public ParamIteratorInterface<ParamType> {
+ public:
+ Iterator(const ParamGeneratorInterface<ParamType>* base,
+ const ParamGenerator<T1>& g1,
+ const typename ParamGenerator<T1>::iterator& current1,
+ const ParamGenerator<T2>& g2,
+ const typename ParamGenerator<T2>::iterator& current2,
+ const ParamGenerator<T3>& g3,
+ const typename ParamGenerator<T3>::iterator& current3,
+ const ParamGenerator<T4>& g4,
+ const typename ParamGenerator<T4>::iterator& current4)
+ : base_(base),
+ begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
+ begin2_(g2.begin()), end2_(g2.end()), current2_(current2),
+ begin3_(g3.begin()), end3_(g3.end()), current3_(current3),
+ begin4_(g4.begin()), end4_(g4.end()), current4_(current4) {
+ ComputeCurrentValue();
+ }
+ virtual ~Iterator() {}
+
+ virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
+ return base_;
+ }
+ // Advance should not be called on beyond-of-range iterators
+ // so no component iterators must be beyond end of range, either.
+ virtual void Advance() {
+ assert(!AtEnd());
+ ++current4_;
+ if (current4_ == end4_) {
+ current4_ = begin4_;
+ ++current3_;
+ }
+ if (current3_ == end3_) {
+ current3_ = begin3_;
+ ++current2_;
+ }
+ if (current2_ == end2_) {
+ current2_ = begin2_;
+ ++current1_;
+ }
+ ComputeCurrentValue();
+ }
+ virtual ParamIteratorInterface<ParamType>* Clone() const {
+ return new Iterator(*this);
+ }
+ virtual const ParamType* Current() const { return ¤t_value_; }
+ virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
+ // Having the same base generator guarantees that the other
+ // iterator is of the same type and we can downcast.
+ GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
+ << "The program attempted to compare iterators "
+ << "from different generators." << std::endl;
+ const Iterator* typed_other =
+ CheckedDowncastToActualType<const Iterator>(&other);
+ // We must report iterators equal if they both point beyond their
+ // respective ranges. That can happen in a variety of fashions,
+ // so we have to consult AtEnd().
+ return (AtEnd() && typed_other->AtEnd()) ||
+ (
+ current1_ == typed_other->current1_ &&
+ current2_ == typed_other->current2_ &&
+ current3_ == typed_other->current3_ &&
+ current4_ == typed_other->current4_);
+ }
+
+ private:
+ Iterator(const Iterator& other)
+ : base_(other.base_),
+ begin1_(other.begin1_),
+ end1_(other.end1_),
+ current1_(other.current1_),
+ begin2_(other.begin2_),
+ end2_(other.end2_),
+ current2_(other.current2_),
+ begin3_(other.begin3_),
+ end3_(other.end3_),
+ current3_(other.current3_),
+ begin4_(other.begin4_),
+ end4_(other.end4_),
+ current4_(other.current4_) {
+ ComputeCurrentValue();
+ }
+
+ void ComputeCurrentValue() {
+ if (!AtEnd())
+ current_value_ = ParamType(*current1_, *current2_, *current3_,
+ *current4_);
+ }
+ bool AtEnd() const {
+ // We must report iterator past the end of the range when either of the
+ // component iterators has reached the end of its range.
+ return
+ current1_ == end1_ ||
+ current2_ == end2_ ||
+ current3_ == end3_ ||
+ current4_ == end4_;
+ }
+
+ // No implementation - assignment is unsupported.
+ void operator=(const Iterator& other);
+
+ const ParamGeneratorInterface<ParamType>* const base_;
+ // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
+ // current[i]_ is the actual traversing iterator.
+ const typename ParamGenerator<T1>::iterator begin1_;
+ const typename ParamGenerator<T1>::iterator end1_;
+ typename ParamGenerator<T1>::iterator current1_;
+ const typename ParamGenerator<T2>::iterator begin2_;
+ const typename ParamGenerator<T2>::iterator end2_;
+ typename ParamGenerator<T2>::iterator current2_;
+ const typename ParamGenerator<T3>::iterator begin3_;
+ const typename ParamGenerator<T3>::iterator end3_;
+ typename ParamGenerator<T3>::iterator current3_;
+ const typename ParamGenerator<T4>::iterator begin4_;
+ const typename ParamGenerator<T4>::iterator end4_;
+ typename ParamGenerator<T4>::iterator current4_;
+ ParamType current_value_;
+ }; // class CartesianProductGenerator4::Iterator
+
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductGenerator4& other);
+
+ const ParamGenerator<T1> g1_;
+ const ParamGenerator<T2> g2_;
+ const ParamGenerator<T3> g3_;
+ const ParamGenerator<T4> g4_;
+}; // class CartesianProductGenerator4
+
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5>
+class CartesianProductGenerator5
+ : public ParamGeneratorInterface< ::std::tr1::tuple<T1, T2, T3, T4, T5> > {
+ public:
+ typedef ::std::tr1::tuple<T1, T2, T3, T4, T5> ParamType;
+
+ CartesianProductGenerator5(const ParamGenerator<T1>& g1,
+ const ParamGenerator<T2>& g2, const ParamGenerator<T3>& g3,
+ const ParamGenerator<T4>& g4, const ParamGenerator<T5>& g5)
+ : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5) {}
+ virtual ~CartesianProductGenerator5() {}
+
+ virtual ParamIteratorInterface<ParamType>* Begin() const {
+ return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin(), g3_,
+ g3_.begin(), g4_, g4_.begin(), g5_, g5_.begin());
+ }
+ virtual ParamIteratorInterface<ParamType>* End() const {
+ return new Iterator(this, g1_, g1_.end(), g2_, g2_.end(), g3_, g3_.end(),
+ g4_, g4_.end(), g5_, g5_.end());
+ }
+
+ private:
+ class Iterator : public ParamIteratorInterface<ParamType> {
+ public:
+ Iterator(const ParamGeneratorInterface<ParamType>* base,
+ const ParamGenerator<T1>& g1,
+ const typename ParamGenerator<T1>::iterator& current1,
+ const ParamGenerator<T2>& g2,
+ const typename ParamGenerator<T2>::iterator& current2,
+ const ParamGenerator<T3>& g3,
+ const typename ParamGenerator<T3>::iterator& current3,
+ const ParamGenerator<T4>& g4,
+ const typename ParamGenerator<T4>::iterator& current4,
+ const ParamGenerator<T5>& g5,
+ const typename ParamGenerator<T5>::iterator& current5)
+ : base_(base),
+ begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
+ begin2_(g2.begin()), end2_(g2.end()), current2_(current2),
+ begin3_(g3.begin()), end3_(g3.end()), current3_(current3),
+ begin4_(g4.begin()), end4_(g4.end()), current4_(current4),
+ begin5_(g5.begin()), end5_(g5.end()), current5_(current5) {
+ ComputeCurrentValue();
+ }
+ virtual ~Iterator() {}
+
+ virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
+ return base_;
+ }
+ // Advance should not be called on beyond-of-range iterators
+ // so no component iterators must be beyond end of range, either.
+ virtual void Advance() {
+ assert(!AtEnd());
+ ++current5_;
+ if (current5_ == end5_) {
+ current5_ = begin5_;
+ ++current4_;
+ }
+ if (current4_ == end4_) {
+ current4_ = begin4_;
+ ++current3_;
+ }
+ if (current3_ == end3_) {
+ current3_ = begin3_;
+ ++current2_;
+ }
+ if (current2_ == end2_) {
+ current2_ = begin2_;
+ ++current1_;
+ }
+ ComputeCurrentValue();
+ }
+ virtual ParamIteratorInterface<ParamType>* Clone() const {
+ return new Iterator(*this);
+ }
+ virtual const ParamType* Current() const { return ¤t_value_; }
+ virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
+ // Having the same base generator guarantees that the other
+ // iterator is of the same type and we can downcast.
+ GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
+ << "The program attempted to compare iterators "
+ << "from different generators." << std::endl;
+ const Iterator* typed_other =
+ CheckedDowncastToActualType<const Iterator>(&other);
+ // We must report iterators equal if they both point beyond their
+ // respective ranges. That can happen in a variety of fashions,
+ // so we have to consult AtEnd().
+ return (AtEnd() && typed_other->AtEnd()) ||
+ (
+ current1_ == typed_other->current1_ &&
+ current2_ == typed_other->current2_ &&
+ current3_ == typed_other->current3_ &&
+ current4_ == typed_other->current4_ &&
+ current5_ == typed_other->current5_);
+ }
+
+ private:
+ Iterator(const Iterator& other)
+ : base_(other.base_),
+ begin1_(other.begin1_),
+ end1_(other.end1_),
+ current1_(other.current1_),
+ begin2_(other.begin2_),
+ end2_(other.end2_),
+ current2_(other.current2_),
+ begin3_(other.begin3_),
+ end3_(other.end3_),
+ current3_(other.current3_),
+ begin4_(other.begin4_),
+ end4_(other.end4_),
+ current4_(other.current4_),
+ begin5_(other.begin5_),
+ end5_(other.end5_),
+ current5_(other.current5_) {
+ ComputeCurrentValue();
+ }
+
+ void ComputeCurrentValue() {
+ if (!AtEnd())
+ current_value_ = ParamType(*current1_, *current2_, *current3_,
+ *current4_, *current5_);
+ }
+ bool AtEnd() const {
+ // We must report iterator past the end of the range when either of the
+ // component iterators has reached the end of its range.
+ return
+ current1_ == end1_ ||
+ current2_ == end2_ ||
+ current3_ == end3_ ||
+ current4_ == end4_ ||
+ current5_ == end5_;
+ }
+
+ // No implementation - assignment is unsupported.
+ void operator=(const Iterator& other);
+
+ const ParamGeneratorInterface<ParamType>* const base_;
+ // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
+ // current[i]_ is the actual traversing iterator.
+ const typename ParamGenerator<T1>::iterator begin1_;
+ const typename ParamGenerator<T1>::iterator end1_;
+ typename ParamGenerator<T1>::iterator current1_;
+ const typename ParamGenerator<T2>::iterator begin2_;
+ const typename ParamGenerator<T2>::iterator end2_;
+ typename ParamGenerator<T2>::iterator current2_;
+ const typename ParamGenerator<T3>::iterator begin3_;
+ const typename ParamGenerator<T3>::iterator end3_;
+ typename ParamGenerator<T3>::iterator current3_;
+ const typename ParamGenerator<T4>::iterator begin4_;
+ const typename ParamGenerator<T4>::iterator end4_;
+ typename ParamGenerator<T4>::iterator current4_;
+ const typename ParamGenerator<T5>::iterator begin5_;
+ const typename ParamGenerator<T5>::iterator end5_;
+ typename ParamGenerator<T5>::iterator current5_;
+ ParamType current_value_;
+ }; // class CartesianProductGenerator5::Iterator
+
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductGenerator5& other);
+
+ const ParamGenerator<T1> g1_;
+ const ParamGenerator<T2> g2_;
+ const ParamGenerator<T3> g3_;
+ const ParamGenerator<T4> g4_;
+ const ParamGenerator<T5> g5_;
+}; // class CartesianProductGenerator5
+
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6>
+class CartesianProductGenerator6
+ : public ParamGeneratorInterface< ::std::tr1::tuple<T1, T2, T3, T4, T5,
+ T6> > {
+ public:
+ typedef ::std::tr1::tuple<T1, T2, T3, T4, T5, T6> ParamType;
+
+ CartesianProductGenerator6(const ParamGenerator<T1>& g1,
+ const ParamGenerator<T2>& g2, const ParamGenerator<T3>& g3,
+ const ParamGenerator<T4>& g4, const ParamGenerator<T5>& g5,
+ const ParamGenerator<T6>& g6)
+ : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6) {}
+ virtual ~CartesianProductGenerator6() {}
+
+ virtual ParamIteratorInterface<ParamType>* Begin() const {
+ return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin(), g3_,
+ g3_.begin(), g4_, g4_.begin(), g5_, g5_.begin(), g6_, g6_.begin());
+ }
+ virtual ParamIteratorInterface<ParamType>* End() const {
+ return new Iterator(this, g1_, g1_.end(), g2_, g2_.end(), g3_, g3_.end(),
+ g4_, g4_.end(), g5_, g5_.end(), g6_, g6_.end());
+ }
+
+ private:
+ class Iterator : public ParamIteratorInterface<ParamType> {
+ public:
+ Iterator(const ParamGeneratorInterface<ParamType>* base,
+ const ParamGenerator<T1>& g1,
+ const typename ParamGenerator<T1>::iterator& current1,
+ const ParamGenerator<T2>& g2,
+ const typename ParamGenerator<T2>::iterator& current2,
+ const ParamGenerator<T3>& g3,
+ const typename ParamGenerator<T3>::iterator& current3,
+ const ParamGenerator<T4>& g4,
+ const typename ParamGenerator<T4>::iterator& current4,
+ const ParamGenerator<T5>& g5,
+ const typename ParamGenerator<T5>::iterator& current5,
+ const ParamGenerator<T6>& g6,
+ const typename ParamGenerator<T6>::iterator& current6)
+ : base_(base),
+ begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
+ begin2_(g2.begin()), end2_(g2.end()), current2_(current2),
+ begin3_(g3.begin()), end3_(g3.end()), current3_(current3),
+ begin4_(g4.begin()), end4_(g4.end()), current4_(current4),
+ begin5_(g5.begin()), end5_(g5.end()), current5_(current5),
+ begin6_(g6.begin()), end6_(g6.end()), current6_(current6) {
+ ComputeCurrentValue();
+ }
+ virtual ~Iterator() {}
+
+ virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
+ return base_;
+ }
+ // Advance should not be called on beyond-of-range iterators
+ // so no component iterators must be beyond end of range, either.
+ virtual void Advance() {
+ assert(!AtEnd());
+ ++current6_;
+ if (current6_ == end6_) {
+ current6_ = begin6_;
+ ++current5_;
+ }
+ if (current5_ == end5_) {
+ current5_ = begin5_;
+ ++current4_;
+ }
+ if (current4_ == end4_) {
+ current4_ = begin4_;
+ ++current3_;
+ }
+ if (current3_ == end3_) {
+ current3_ = begin3_;
+ ++current2_;
+ }
+ if (current2_ == end2_) {
+ current2_ = begin2_;
+ ++current1_;
+ }
+ ComputeCurrentValue();
+ }
+ virtual ParamIteratorInterface<ParamType>* Clone() const {
+ return new Iterator(*this);
+ }
+ virtual const ParamType* Current() const { return ¤t_value_; }
+ virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
+ // Having the same base generator guarantees that the other
+ // iterator is of the same type and we can downcast.
+ GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
+ << "The program attempted to compare iterators "
+ << "from different generators." << std::endl;
+ const Iterator* typed_other =
+ CheckedDowncastToActualType<const Iterator>(&other);
+ // We must report iterators equal if they both point beyond their
+ // respective ranges. That can happen in a variety of fashions,
+ // so we have to consult AtEnd().
+ return (AtEnd() && typed_other->AtEnd()) ||
+ (
+ current1_ == typed_other->current1_ &&
+ current2_ == typed_other->current2_ &&
+ current3_ == typed_other->current3_ &&
+ current4_ == typed_other->current4_ &&
+ current5_ == typed_other->current5_ &&
+ current6_ == typed_other->current6_);
+ }
+
+ private:
+ Iterator(const Iterator& other)
+ : base_(other.base_),
+ begin1_(other.begin1_),
+ end1_(other.end1_),
+ current1_(other.current1_),
+ begin2_(other.begin2_),
+ end2_(other.end2_),
+ current2_(other.current2_),
+ begin3_(other.begin3_),
+ end3_(other.end3_),
+ current3_(other.current3_),
+ begin4_(other.begin4_),
+ end4_(other.end4_),
+ current4_(other.current4_),
+ begin5_(other.begin5_),
+ end5_(other.end5_),
+ current5_(other.current5_),
+ begin6_(other.begin6_),
+ end6_(other.end6_),
+ current6_(other.current6_) {
+ ComputeCurrentValue();
+ }
+
+ void ComputeCurrentValue() {
+ if (!AtEnd())
+ current_value_ = ParamType(*current1_, *current2_, *current3_,
+ *current4_, *current5_, *current6_);
+ }
+ bool AtEnd() const {
+ // We must report iterator past the end of the range when either of the
+ // component iterators has reached the end of its range.
+ return
+ current1_ == end1_ ||
+ current2_ == end2_ ||
+ current3_ == end3_ ||
+ current4_ == end4_ ||
+ current5_ == end5_ ||
+ current6_ == end6_;
+ }
+
+ // No implementation - assignment is unsupported.
+ void operator=(const Iterator& other);
+
+ const ParamGeneratorInterface<ParamType>* const base_;
+ // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
+ // current[i]_ is the actual traversing iterator.
+ const typename ParamGenerator<T1>::iterator begin1_;
+ const typename ParamGenerator<T1>::iterator end1_;
+ typename ParamGenerator<T1>::iterator current1_;
+ const typename ParamGenerator<T2>::iterator begin2_;
+ const typename ParamGenerator<T2>::iterator end2_;
+ typename ParamGenerator<T2>::iterator current2_;
+ const typename ParamGenerator<T3>::iterator begin3_;
+ const typename ParamGenerator<T3>::iterator end3_;
+ typename ParamGenerator<T3>::iterator current3_;
+ const typename ParamGenerator<T4>::iterator begin4_;
+ const typename ParamGenerator<T4>::iterator end4_;
+ typename ParamGenerator<T4>::iterator current4_;
+ const typename ParamGenerator<T5>::iterator begin5_;
+ const typename ParamGenerator<T5>::iterator end5_;
+ typename ParamGenerator<T5>::iterator current5_;
+ const typename ParamGenerator<T6>::iterator begin6_;
+ const typename ParamGenerator<T6>::iterator end6_;
+ typename ParamGenerator<T6>::iterator current6_;
+ ParamType current_value_;
+ }; // class CartesianProductGenerator6::Iterator
+
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductGenerator6& other);
+
+ const ParamGenerator<T1> g1_;
+ const ParamGenerator<T2> g2_;
+ const ParamGenerator<T3> g3_;
+ const ParamGenerator<T4> g4_;
+ const ParamGenerator<T5> g5_;
+ const ParamGenerator<T6> g6_;
+}; // class CartesianProductGenerator6
+
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7>
+class CartesianProductGenerator7
+ : public ParamGeneratorInterface< ::std::tr1::tuple<T1, T2, T3, T4, T5, T6,
+ T7> > {
+ public:
+ typedef ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7> ParamType;
+
+ CartesianProductGenerator7(const ParamGenerator<T1>& g1,
+ const ParamGenerator<T2>& g2, const ParamGenerator<T3>& g3,
+ const ParamGenerator<T4>& g4, const ParamGenerator<T5>& g5,
+ const ParamGenerator<T6>& g6, const ParamGenerator<T7>& g7)
+ : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6), g7_(g7) {}
+ virtual ~CartesianProductGenerator7() {}
+
+ virtual ParamIteratorInterface<ParamType>* Begin() const {
+ return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin(), g3_,
+ g3_.begin(), g4_, g4_.begin(), g5_, g5_.begin(), g6_, g6_.begin(), g7_,
+ g7_.begin());
+ }
+ virtual ParamIteratorInterface<ParamType>* End() const {
+ return new Iterator(this, g1_, g1_.end(), g2_, g2_.end(), g3_, g3_.end(),
+ g4_, g4_.end(), g5_, g5_.end(), g6_, g6_.end(), g7_, g7_.end());
+ }
+
+ private:
+ class Iterator : public ParamIteratorInterface<ParamType> {
+ public:
+ Iterator(const ParamGeneratorInterface<ParamType>* base,
+ const ParamGenerator<T1>& g1,
+ const typename ParamGenerator<T1>::iterator& current1,
+ const ParamGenerator<T2>& g2,
+ const typename ParamGenerator<T2>::iterator& current2,
+ const ParamGenerator<T3>& g3,
+ const typename ParamGenerator<T3>::iterator& current3,
+ const ParamGenerator<T4>& g4,
+ const typename ParamGenerator<T4>::iterator& current4,
+ const ParamGenerator<T5>& g5,
+ const typename ParamGenerator<T5>::iterator& current5,
+ const ParamGenerator<T6>& g6,
+ const typename ParamGenerator<T6>::iterator& current6,
+ const ParamGenerator<T7>& g7,
+ const typename ParamGenerator<T7>::iterator& current7)
+ : base_(base),
+ begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
+ begin2_(g2.begin()), end2_(g2.end()), current2_(current2),
+ begin3_(g3.begin()), end3_(g3.end()), current3_(current3),
+ begin4_(g4.begin()), end4_(g4.end()), current4_(current4),
+ begin5_(g5.begin()), end5_(g5.end()), current5_(current5),
+ begin6_(g6.begin()), end6_(g6.end()), current6_(current6),
+ begin7_(g7.begin()), end7_(g7.end()), current7_(current7) {
+ ComputeCurrentValue();
+ }
+ virtual ~Iterator() {}
+
+ virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
+ return base_;
+ }
+ // Advance should not be called on beyond-of-range iterators
+ // so no component iterators must be beyond end of range, either.
+ virtual void Advance() {
+ assert(!AtEnd());
+ ++current7_;
+ if (current7_ == end7_) {
+ current7_ = begin7_;
+ ++current6_;
+ }
+ if (current6_ == end6_) {
+ current6_ = begin6_;
+ ++current5_;
+ }
+ if (current5_ == end5_) {
+ current5_ = begin5_;
+ ++current4_;
+ }
+ if (current4_ == end4_) {
+ current4_ = begin4_;
+ ++current3_;
+ }
+ if (current3_ == end3_) {
+ current3_ = begin3_;
+ ++current2_;
+ }
+ if (current2_ == end2_) {
+ current2_ = begin2_;
+ ++current1_;
+ }
+ ComputeCurrentValue();
+ }
+ virtual ParamIteratorInterface<ParamType>* Clone() const {
+ return new Iterator(*this);
+ }
+ virtual const ParamType* Current() const { return ¤t_value_; }
+ virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
+ // Having the same base generator guarantees that the other
+ // iterator is of the same type and we can downcast.
+ GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
+ << "The program attempted to compare iterators "
+ << "from different generators." << std::endl;
+ const Iterator* typed_other =
+ CheckedDowncastToActualType<const Iterator>(&other);
+ // We must report iterators equal if they both point beyond their
+ // respective ranges. That can happen in a variety of fashions,
+ // so we have to consult AtEnd().
+ return (AtEnd() && typed_other->AtEnd()) ||
+ (
+ current1_ == typed_other->current1_ &&
+ current2_ == typed_other->current2_ &&
+ current3_ == typed_other->current3_ &&
+ current4_ == typed_other->current4_ &&
+ current5_ == typed_other->current5_ &&
+ current6_ == typed_other->current6_ &&
+ current7_ == typed_other->current7_);
+ }
+
+ private:
+ Iterator(const Iterator& other)
+ : base_(other.base_),
+ begin1_(other.begin1_),
+ end1_(other.end1_),
+ current1_(other.current1_),
+ begin2_(other.begin2_),
+ end2_(other.end2_),
+ current2_(other.current2_),
+ begin3_(other.begin3_),
+ end3_(other.end3_),
+ current3_(other.current3_),
+ begin4_(other.begin4_),
+ end4_(other.end4_),
+ current4_(other.current4_),
+ begin5_(other.begin5_),
+ end5_(other.end5_),
+ current5_(other.current5_),
+ begin6_(other.begin6_),
+ end6_(other.end6_),
+ current6_(other.current6_),
+ begin7_(other.begin7_),
+ end7_(other.end7_),
+ current7_(other.current7_) {
+ ComputeCurrentValue();
+ }
+
+ void ComputeCurrentValue() {
+ if (!AtEnd())
+ current_value_ = ParamType(*current1_, *current2_, *current3_,
+ *current4_, *current5_, *current6_, *current7_);
+ }
+ bool AtEnd() const {
+ // We must report iterator past the end of the range when either of the
+ // component iterators has reached the end of its range.
+ return
+ current1_ == end1_ ||
+ current2_ == end2_ ||
+ current3_ == end3_ ||
+ current4_ == end4_ ||
+ current5_ == end5_ ||
+ current6_ == end6_ ||
+ current7_ == end7_;
+ }
+
+ // No implementation - assignment is unsupported.
+ void operator=(const Iterator& other);
+
+ const ParamGeneratorInterface<ParamType>* const base_;
+ // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
+ // current[i]_ is the actual traversing iterator.
+ const typename ParamGenerator<T1>::iterator begin1_;
+ const typename ParamGenerator<T1>::iterator end1_;
+ typename ParamGenerator<T1>::iterator current1_;
+ const typename ParamGenerator<T2>::iterator begin2_;
+ const typename ParamGenerator<T2>::iterator end2_;
+ typename ParamGenerator<T2>::iterator current2_;
+ const typename ParamGenerator<T3>::iterator begin3_;
+ const typename ParamGenerator<T3>::iterator end3_;
+ typename ParamGenerator<T3>::iterator current3_;
+ const typename ParamGenerator<T4>::iterator begin4_;
+ const typename ParamGenerator<T4>::iterator end4_;
+ typename ParamGenerator<T4>::iterator current4_;
+ const typename ParamGenerator<T5>::iterator begin5_;
+ const typename ParamGenerator<T5>::iterator end5_;
+ typename ParamGenerator<T5>::iterator current5_;
+ const typename ParamGenerator<T6>::iterator begin6_;
+ const typename ParamGenerator<T6>::iterator end6_;
+ typename ParamGenerator<T6>::iterator current6_;
+ const typename ParamGenerator<T7>::iterator begin7_;
+ const typename ParamGenerator<T7>::iterator end7_;
+ typename ParamGenerator<T7>::iterator current7_;
+ ParamType current_value_;
+ }; // class CartesianProductGenerator7::Iterator
+
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductGenerator7& other);
+
+ const ParamGenerator<T1> g1_;
+ const ParamGenerator<T2> g2_;
+ const ParamGenerator<T3> g3_;
+ const ParamGenerator<T4> g4_;
+ const ParamGenerator<T5> g5_;
+ const ParamGenerator<T6> g6_;
+ const ParamGenerator<T7> g7_;
+}; // class CartesianProductGenerator7
+
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8>
+class CartesianProductGenerator8
+ : public ParamGeneratorInterface< ::std::tr1::tuple<T1, T2, T3, T4, T5, T6,
+ T7, T8> > {
+ public:
+ typedef ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7, T8> ParamType;
+
+ CartesianProductGenerator8(const ParamGenerator<T1>& g1,
+ const ParamGenerator<T2>& g2, const ParamGenerator<T3>& g3,
+ const ParamGenerator<T4>& g4, const ParamGenerator<T5>& g5,
+ const ParamGenerator<T6>& g6, const ParamGenerator<T7>& g7,
+ const ParamGenerator<T8>& g8)
+ : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6), g7_(g7),
+ g8_(g8) {}
+ virtual ~CartesianProductGenerator8() {}
+
+ virtual ParamIteratorInterface<ParamType>* Begin() const {
+ return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin(), g3_,
+ g3_.begin(), g4_, g4_.begin(), g5_, g5_.begin(), g6_, g6_.begin(), g7_,
+ g7_.begin(), g8_, g8_.begin());
+ }
+ virtual ParamIteratorInterface<ParamType>* End() const {
+ return new Iterator(this, g1_, g1_.end(), g2_, g2_.end(), g3_, g3_.end(),
+ g4_, g4_.end(), g5_, g5_.end(), g6_, g6_.end(), g7_, g7_.end(), g8_,
+ g8_.end());
+ }
+
+ private:
+ class Iterator : public ParamIteratorInterface<ParamType> {
+ public:
+ Iterator(const ParamGeneratorInterface<ParamType>* base,
+ const ParamGenerator<T1>& g1,
+ const typename ParamGenerator<T1>::iterator& current1,
+ const ParamGenerator<T2>& g2,
+ const typename ParamGenerator<T2>::iterator& current2,
+ const ParamGenerator<T3>& g3,
+ const typename ParamGenerator<T3>::iterator& current3,
+ const ParamGenerator<T4>& g4,
+ const typename ParamGenerator<T4>::iterator& current4,
+ const ParamGenerator<T5>& g5,
+ const typename ParamGenerator<T5>::iterator& current5,
+ const ParamGenerator<T6>& g6,
+ const typename ParamGenerator<T6>::iterator& current6,
+ const ParamGenerator<T7>& g7,
+ const typename ParamGenerator<T7>::iterator& current7,
+ const ParamGenerator<T8>& g8,
+ const typename ParamGenerator<T8>::iterator& current8)
+ : base_(base),
+ begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
+ begin2_(g2.begin()), end2_(g2.end()), current2_(current2),
+ begin3_(g3.begin()), end3_(g3.end()), current3_(current3),
+ begin4_(g4.begin()), end4_(g4.end()), current4_(current4),
+ begin5_(g5.begin()), end5_(g5.end()), current5_(current5),
+ begin6_(g6.begin()), end6_(g6.end()), current6_(current6),
+ begin7_(g7.begin()), end7_(g7.end()), current7_(current7),
+ begin8_(g8.begin()), end8_(g8.end()), current8_(current8) {
+ ComputeCurrentValue();
+ }
+ virtual ~Iterator() {}
+
+ virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
+ return base_;
+ }
+ // Advance should not be called on beyond-of-range iterators
+ // so no component iterators must be beyond end of range, either.
+ virtual void Advance() {
+ assert(!AtEnd());
+ ++current8_;
+ if (current8_ == end8_) {
+ current8_ = begin8_;
+ ++current7_;
+ }
+ if (current7_ == end7_) {
+ current7_ = begin7_;
+ ++current6_;
+ }
+ if (current6_ == end6_) {
+ current6_ = begin6_;
+ ++current5_;
+ }
+ if (current5_ == end5_) {
+ current5_ = begin5_;
+ ++current4_;
+ }
+ if (current4_ == end4_) {
+ current4_ = begin4_;
+ ++current3_;
+ }
+ if (current3_ == end3_) {
+ current3_ = begin3_;
+ ++current2_;
+ }
+ if (current2_ == end2_) {
+ current2_ = begin2_;
+ ++current1_;
+ }
+ ComputeCurrentValue();
+ }
+ virtual ParamIteratorInterface<ParamType>* Clone() const {
+ return new Iterator(*this);
+ }
+ virtual const ParamType* Current() const { return ¤t_value_; }
+ virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
+ // Having the same base generator guarantees that the other
+ // iterator is of the same type and we can downcast.
+ GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
+ << "The program attempted to compare iterators "
+ << "from different generators." << std::endl;
+ const Iterator* typed_other =
+ CheckedDowncastToActualType<const Iterator>(&other);
+ // We must report iterators equal if they both point beyond their
+ // respective ranges. That can happen in a variety of fashions,
+ // so we have to consult AtEnd().
+ return (AtEnd() && typed_other->AtEnd()) ||
+ (
+ current1_ == typed_other->current1_ &&
+ current2_ == typed_other->current2_ &&
+ current3_ == typed_other->current3_ &&
+ current4_ == typed_other->current4_ &&
+ current5_ == typed_other->current5_ &&
+ current6_ == typed_other->current6_ &&
+ current7_ == typed_other->current7_ &&
+ current8_ == typed_other->current8_);
+ }
+
+ private:
+ Iterator(const Iterator& other)
+ : base_(other.base_),
+ begin1_(other.begin1_),
+ end1_(other.end1_),
+ current1_(other.current1_),
+ begin2_(other.begin2_),
+ end2_(other.end2_),
+ current2_(other.current2_),
+ begin3_(other.begin3_),
+ end3_(other.end3_),
+ current3_(other.current3_),
+ begin4_(other.begin4_),
+ end4_(other.end4_),
+ current4_(other.current4_),
+ begin5_(other.begin5_),
+ end5_(other.end5_),
+ current5_(other.current5_),
+ begin6_(other.begin6_),
+ end6_(other.end6_),
+ current6_(other.current6_),
+ begin7_(other.begin7_),
+ end7_(other.end7_),
+ current7_(other.current7_),
+ begin8_(other.begin8_),
+ end8_(other.end8_),
+ current8_(other.current8_) {
+ ComputeCurrentValue();
+ }
+
+ void ComputeCurrentValue() {
+ if (!AtEnd())
+ current_value_ = ParamType(*current1_, *current2_, *current3_,
+ *current4_, *current5_, *current6_, *current7_, *current8_);
+ }
+ bool AtEnd() const {
+ // We must report iterator past the end of the range when either of the
+ // component iterators has reached the end of its range.
+ return
+ current1_ == end1_ ||
+ current2_ == end2_ ||
+ current3_ == end3_ ||
+ current4_ == end4_ ||
+ current5_ == end5_ ||
+ current6_ == end6_ ||
+ current7_ == end7_ ||
+ current8_ == end8_;
+ }
+
+ // No implementation - assignment is unsupported.
+ void operator=(const Iterator& other);
+
+ const ParamGeneratorInterface<ParamType>* const base_;
+ // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
+ // current[i]_ is the actual traversing iterator.
+ const typename ParamGenerator<T1>::iterator begin1_;
+ const typename ParamGenerator<T1>::iterator end1_;
+ typename ParamGenerator<T1>::iterator current1_;
+ const typename ParamGenerator<T2>::iterator begin2_;
+ const typename ParamGenerator<T2>::iterator end2_;
+ typename ParamGenerator<T2>::iterator current2_;
+ const typename ParamGenerator<T3>::iterator begin3_;
+ const typename ParamGenerator<T3>::iterator end3_;
+ typename ParamGenerator<T3>::iterator current3_;
+ const typename ParamGenerator<T4>::iterator begin4_;
+ const typename ParamGenerator<T4>::iterator end4_;
+ typename ParamGenerator<T4>::iterator current4_;
+ const typename ParamGenerator<T5>::iterator begin5_;
+ const typename ParamGenerator<T5>::iterator end5_;
+ typename ParamGenerator<T5>::iterator current5_;
+ const typename ParamGenerator<T6>::iterator begin6_;
+ const typename ParamGenerator<T6>::iterator end6_;
+ typename ParamGenerator<T6>::iterator current6_;
+ const typename ParamGenerator<T7>::iterator begin7_;
+ const typename ParamGenerator<T7>::iterator end7_;
+ typename ParamGenerator<T7>::iterator current7_;
+ const typename ParamGenerator<T8>::iterator begin8_;
+ const typename ParamGenerator<T8>::iterator end8_;
+ typename ParamGenerator<T8>::iterator current8_;
+ ParamType current_value_;
+ }; // class CartesianProductGenerator8::Iterator
+
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductGenerator8& other);
+
+ const ParamGenerator<T1> g1_;
+ const ParamGenerator<T2> g2_;
+ const ParamGenerator<T3> g3_;
+ const ParamGenerator<T4> g4_;
+ const ParamGenerator<T5> g5_;
+ const ParamGenerator<T6> g6_;
+ const ParamGenerator<T7> g7_;
+ const ParamGenerator<T8> g8_;
+}; // class CartesianProductGenerator8
+
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9>
+class CartesianProductGenerator9
+ : public ParamGeneratorInterface< ::std::tr1::tuple<T1, T2, T3, T4, T5, T6,
+ T7, T8, T9> > {
+ public:
+ typedef ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7, T8, T9> ParamType;
+
+ CartesianProductGenerator9(const ParamGenerator<T1>& g1,
+ const ParamGenerator<T2>& g2, const ParamGenerator<T3>& g3,
+ const ParamGenerator<T4>& g4, const ParamGenerator<T5>& g5,
+ const ParamGenerator<T6>& g6, const ParamGenerator<T7>& g7,
+ const ParamGenerator<T8>& g8, const ParamGenerator<T9>& g9)
+ : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6), g7_(g7), g8_(g8),
+ g9_(g9) {}
+ virtual ~CartesianProductGenerator9() {}
+
+ virtual ParamIteratorInterface<ParamType>* Begin() const {
+ return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin(), g3_,
+ g3_.begin(), g4_, g4_.begin(), g5_, g5_.begin(), g6_, g6_.begin(), g7_,
+ g7_.begin(), g8_, g8_.begin(), g9_, g9_.begin());
+ }
+ virtual ParamIteratorInterface<ParamType>* End() const {
+ return new Iterator(this, g1_, g1_.end(), g2_, g2_.end(), g3_, g3_.end(),
+ g4_, g4_.end(), g5_, g5_.end(), g6_, g6_.end(), g7_, g7_.end(), g8_,
+ g8_.end(), g9_, g9_.end());
+ }
+
+ private:
+ class Iterator : public ParamIteratorInterface<ParamType> {
+ public:
+ Iterator(const ParamGeneratorInterface<ParamType>* base,
+ const ParamGenerator<T1>& g1,
+ const typename ParamGenerator<T1>::iterator& current1,
+ const ParamGenerator<T2>& g2,
+ const typename ParamGenerator<T2>::iterator& current2,
+ const ParamGenerator<T3>& g3,
+ const typename ParamGenerator<T3>::iterator& current3,
+ const ParamGenerator<T4>& g4,
+ const typename ParamGenerator<T4>::iterator& current4,
+ const ParamGenerator<T5>& g5,
+ const typename ParamGenerator<T5>::iterator& current5,
+ const ParamGenerator<T6>& g6,
+ const typename ParamGenerator<T6>::iterator& current6,
+ const ParamGenerator<T7>& g7,
+ const typename ParamGenerator<T7>::iterator& current7,
+ const ParamGenerator<T8>& g8,
+ const typename ParamGenerator<T8>::iterator& current8,
+ const ParamGenerator<T9>& g9,
+ const typename ParamGenerator<T9>::iterator& current9)
+ : base_(base),
+ begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
+ begin2_(g2.begin()), end2_(g2.end()), current2_(current2),
+ begin3_(g3.begin()), end3_(g3.end()), current3_(current3),
+ begin4_(g4.begin()), end4_(g4.end()), current4_(current4),
+ begin5_(g5.begin()), end5_(g5.end()), current5_(current5),
+ begin6_(g6.begin()), end6_(g6.end()), current6_(current6),
+ begin7_(g7.begin()), end7_(g7.end()), current7_(current7),
+ begin8_(g8.begin()), end8_(g8.end()), current8_(current8),
+ begin9_(g9.begin()), end9_(g9.end()), current9_(current9) {
+ ComputeCurrentValue();
+ }
+ virtual ~Iterator() {}
+
+ virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
+ return base_;
+ }
+ // Advance should not be called on beyond-of-range iterators
+ // so no component iterators must be beyond end of range, either.
+ virtual void Advance() {
+ assert(!AtEnd());
+ ++current9_;
+ if (current9_ == end9_) {
+ current9_ = begin9_;
+ ++current8_;
+ }
+ if (current8_ == end8_) {
+ current8_ = begin8_;
+ ++current7_;
+ }
+ if (current7_ == end7_) {
+ current7_ = begin7_;
+ ++current6_;
+ }
+ if (current6_ == end6_) {
+ current6_ = begin6_;
+ ++current5_;
+ }
+ if (current5_ == end5_) {
+ current5_ = begin5_;
+ ++current4_;
+ }
+ if (current4_ == end4_) {
+ current4_ = begin4_;
+ ++current3_;
+ }
+ if (current3_ == end3_) {
+ current3_ = begin3_;
+ ++current2_;
+ }
+ if (current2_ == end2_) {
+ current2_ = begin2_;
+ ++current1_;
+ }
+ ComputeCurrentValue();
+ }
+ virtual ParamIteratorInterface<ParamType>* Clone() const {
+ return new Iterator(*this);
+ }
+ virtual const ParamType* Current() const { return ¤t_value_; }
+ virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
+ // Having the same base generator guarantees that the other
+ // iterator is of the same type and we can downcast.
+ GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
+ << "The program attempted to compare iterators "
+ << "from different generators." << std::endl;
+ const Iterator* typed_other =
+ CheckedDowncastToActualType<const Iterator>(&other);
+ // We must report iterators equal if they both point beyond their
+ // respective ranges. That can happen in a variety of fashions,
+ // so we have to consult AtEnd().
+ return (AtEnd() && typed_other->AtEnd()) ||
+ (
+ current1_ == typed_other->current1_ &&
+ current2_ == typed_other->current2_ &&
+ current3_ == typed_other->current3_ &&
+ current4_ == typed_other->current4_ &&
+ current5_ == typed_other->current5_ &&
+ current6_ == typed_other->current6_ &&
+ current7_ == typed_other->current7_ &&
+ current8_ == typed_other->current8_ &&
+ current9_ == typed_other->current9_);
+ }
+
+ private:
+ Iterator(const Iterator& other)
+ : base_(other.base_),
+ begin1_(other.begin1_),
+ end1_(other.end1_),
+ current1_(other.current1_),
+ begin2_(other.begin2_),
+ end2_(other.end2_),
+ current2_(other.current2_),
+ begin3_(other.begin3_),
+ end3_(other.end3_),
+ current3_(other.current3_),
+ begin4_(other.begin4_),
+ end4_(other.end4_),
+ current4_(other.current4_),
+ begin5_(other.begin5_),
+ end5_(other.end5_),
+ current5_(other.current5_),
+ begin6_(other.begin6_),
+ end6_(other.end6_),
+ current6_(other.current6_),
+ begin7_(other.begin7_),
+ end7_(other.end7_),
+ current7_(other.current7_),
+ begin8_(other.begin8_),
+ end8_(other.end8_),
+ current8_(other.current8_),
+ begin9_(other.begin9_),
+ end9_(other.end9_),
+ current9_(other.current9_) {
+ ComputeCurrentValue();
+ }
+
+ void ComputeCurrentValue() {
+ if (!AtEnd())
+ current_value_ = ParamType(*current1_, *current2_, *current3_,
+ *current4_, *current5_, *current6_, *current7_, *current8_,
+ *current9_);
+ }
+ bool AtEnd() const {
+ // We must report iterator past the end of the range when either of the
+ // component iterators has reached the end of its range.
+ return
+ current1_ == end1_ ||
+ current2_ == end2_ ||
+ current3_ == end3_ ||
+ current4_ == end4_ ||
+ current5_ == end5_ ||
+ current6_ == end6_ ||
+ current7_ == end7_ ||
+ current8_ == end8_ ||
+ current9_ == end9_;
+ }
+
+ // No implementation - assignment is unsupported.
+ void operator=(const Iterator& other);
+
+ const ParamGeneratorInterface<ParamType>* const base_;
+ // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
+ // current[i]_ is the actual traversing iterator.
+ const typename ParamGenerator<T1>::iterator begin1_;
+ const typename ParamGenerator<T1>::iterator end1_;
+ typename ParamGenerator<T1>::iterator current1_;
+ const typename ParamGenerator<T2>::iterator begin2_;
+ const typename ParamGenerator<T2>::iterator end2_;
+ typename ParamGenerator<T2>::iterator current2_;
+ const typename ParamGenerator<T3>::iterator begin3_;
+ const typename ParamGenerator<T3>::iterator end3_;
+ typename ParamGenerator<T3>::iterator current3_;
+ const typename ParamGenerator<T4>::iterator begin4_;
+ const typename ParamGenerator<T4>::iterator end4_;
+ typename ParamGenerator<T4>::iterator current4_;
+ const typename ParamGenerator<T5>::iterator begin5_;
+ const typename ParamGenerator<T5>::iterator end5_;
+ typename ParamGenerator<T5>::iterator current5_;
+ const typename ParamGenerator<T6>::iterator begin6_;
+ const typename ParamGenerator<T6>::iterator end6_;
+ typename ParamGenerator<T6>::iterator current6_;
+ const typename ParamGenerator<T7>::iterator begin7_;
+ const typename ParamGenerator<T7>::iterator end7_;
+ typename ParamGenerator<T7>::iterator current7_;
+ const typename ParamGenerator<T8>::iterator begin8_;
+ const typename ParamGenerator<T8>::iterator end8_;
+ typename ParamGenerator<T8>::iterator current8_;
+ const typename ParamGenerator<T9>::iterator begin9_;
+ const typename ParamGenerator<T9>::iterator end9_;
+ typename ParamGenerator<T9>::iterator current9_;
+ ParamType current_value_;
+ }; // class CartesianProductGenerator9::Iterator
+
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductGenerator9& other);
+
+ const ParamGenerator<T1> g1_;
+ const ParamGenerator<T2> g2_;
+ const ParamGenerator<T3> g3_;
+ const ParamGenerator<T4> g4_;
+ const ParamGenerator<T5> g5_;
+ const ParamGenerator<T6> g6_;
+ const ParamGenerator<T7> g7_;
+ const ParamGenerator<T8> g8_;
+ const ParamGenerator<T9> g9_;
+}; // class CartesianProductGenerator9
+
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10>
+class CartesianProductGenerator10
+ : public ParamGeneratorInterface< ::std::tr1::tuple<T1, T2, T3, T4, T5, T6,
+ T7, T8, T9, T10> > {
+ public:
+ typedef ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10> ParamType;
+
+ CartesianProductGenerator10(const ParamGenerator<T1>& g1,
+ const ParamGenerator<T2>& g2, const ParamGenerator<T3>& g3,
+ const ParamGenerator<T4>& g4, const ParamGenerator<T5>& g5,
+ const ParamGenerator<T6>& g6, const ParamGenerator<T7>& g7,
+ const ParamGenerator<T8>& g8, const ParamGenerator<T9>& g9,
+ const ParamGenerator<T10>& g10)
+ : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6), g7_(g7), g8_(g8),
+ g9_(g9), g10_(g10) {}
+ virtual ~CartesianProductGenerator10() {}
+
+ virtual ParamIteratorInterface<ParamType>* Begin() const {
+ return new Iterator(this, g1_, g1_.begin(), g2_, g2_.begin(), g3_,
+ g3_.begin(), g4_, g4_.begin(), g5_, g5_.begin(), g6_, g6_.begin(), g7_,
+ g7_.begin(), g8_, g8_.begin(), g9_, g9_.begin(), g10_, g10_.begin());
+ }
+ virtual ParamIteratorInterface<ParamType>* End() const {
+ return new Iterator(this, g1_, g1_.end(), g2_, g2_.end(), g3_, g3_.end(),
+ g4_, g4_.end(), g5_, g5_.end(), g6_, g6_.end(), g7_, g7_.end(), g8_,
+ g8_.end(), g9_, g9_.end(), g10_, g10_.end());
+ }
+
+ private:
+ class Iterator : public ParamIteratorInterface<ParamType> {
+ public:
+ Iterator(const ParamGeneratorInterface<ParamType>* base,
+ const ParamGenerator<T1>& g1,
+ const typename ParamGenerator<T1>::iterator& current1,
+ const ParamGenerator<T2>& g2,
+ const typename ParamGenerator<T2>::iterator& current2,
+ const ParamGenerator<T3>& g3,
+ const typename ParamGenerator<T3>::iterator& current3,
+ const ParamGenerator<T4>& g4,
+ const typename ParamGenerator<T4>::iterator& current4,
+ const ParamGenerator<T5>& g5,
+ const typename ParamGenerator<T5>::iterator& current5,
+ const ParamGenerator<T6>& g6,
+ const typename ParamGenerator<T6>::iterator& current6,
+ const ParamGenerator<T7>& g7,
+ const typename ParamGenerator<T7>::iterator& current7,
+ const ParamGenerator<T8>& g8,
+ const typename ParamGenerator<T8>::iterator& current8,
+ const ParamGenerator<T9>& g9,
+ const typename ParamGenerator<T9>::iterator& current9,
+ const ParamGenerator<T10>& g10,
+ const typename ParamGenerator<T10>::iterator& current10)
+ : base_(base),
+ begin1_(g1.begin()), end1_(g1.end()), current1_(current1),
+ begin2_(g2.begin()), end2_(g2.end()), current2_(current2),
+ begin3_(g3.begin()), end3_(g3.end()), current3_(current3),
+ begin4_(g4.begin()), end4_(g4.end()), current4_(current4),
+ begin5_(g5.begin()), end5_(g5.end()), current5_(current5),
+ begin6_(g6.begin()), end6_(g6.end()), current6_(current6),
+ begin7_(g7.begin()), end7_(g7.end()), current7_(current7),
+ begin8_(g8.begin()), end8_(g8.end()), current8_(current8),
+ begin9_(g9.begin()), end9_(g9.end()), current9_(current9),
+ begin10_(g10.begin()), end10_(g10.end()), current10_(current10) {
+ ComputeCurrentValue();
+ }
+ virtual ~Iterator() {}
+
+ virtual const ParamGeneratorInterface<ParamType>* BaseGenerator() const {
+ return base_;
+ }
+ // Advance should not be called on beyond-of-range iterators
+ // so no component iterators must be beyond end of range, either.
+ virtual void Advance() {
+ assert(!AtEnd());
+ ++current10_;
+ if (current10_ == end10_) {
+ current10_ = begin10_;
+ ++current9_;
+ }
+ if (current9_ == end9_) {
+ current9_ = begin9_;
+ ++current8_;
+ }
+ if (current8_ == end8_) {
+ current8_ = begin8_;
+ ++current7_;
+ }
+ if (current7_ == end7_) {
+ current7_ = begin7_;
+ ++current6_;
+ }
+ if (current6_ == end6_) {
+ current6_ = begin6_;
+ ++current5_;
+ }
+ if (current5_ == end5_) {
+ current5_ = begin5_;
+ ++current4_;
+ }
+ if (current4_ == end4_) {
+ current4_ = begin4_;
+ ++current3_;
+ }
+ if (current3_ == end3_) {
+ current3_ = begin3_;
+ ++current2_;
+ }
+ if (current2_ == end2_) {
+ current2_ = begin2_;
+ ++current1_;
+ }
+ ComputeCurrentValue();
+ }
+ virtual ParamIteratorInterface<ParamType>* Clone() const {
+ return new Iterator(*this);
+ }
+ virtual const ParamType* Current() const { return ¤t_value_; }
+ virtual bool Equals(const ParamIteratorInterface<ParamType>& other) const {
+ // Having the same base generator guarantees that the other
+ // iterator is of the same type and we can downcast.
+ GTEST_CHECK_(BaseGenerator() == other.BaseGenerator())
+ << "The program attempted to compare iterators "
+ << "from different generators." << std::endl;
+ const Iterator* typed_other =
+ CheckedDowncastToActualType<const Iterator>(&other);
+ // We must report iterators equal if they both point beyond their
+ // respective ranges. That can happen in a variety of fashions,
+ // so we have to consult AtEnd().
+ return (AtEnd() && typed_other->AtEnd()) ||
+ (
+ current1_ == typed_other->current1_ &&
+ current2_ == typed_other->current2_ &&
+ current3_ == typed_other->current3_ &&
+ current4_ == typed_other->current4_ &&
+ current5_ == typed_other->current5_ &&
+ current6_ == typed_other->current6_ &&
+ current7_ == typed_other->current7_ &&
+ current8_ == typed_other->current8_ &&
+ current9_ == typed_other->current9_ &&
+ current10_ == typed_other->current10_);
+ }
+
+ private:
+ Iterator(const Iterator& other)
+ : base_(other.base_),
+ begin1_(other.begin1_),
+ end1_(other.end1_),
+ current1_(other.current1_),
+ begin2_(other.begin2_),
+ end2_(other.end2_),
+ current2_(other.current2_),
+ begin3_(other.begin3_),
+ end3_(other.end3_),
+ current3_(other.current3_),
+ begin4_(other.begin4_),
+ end4_(other.end4_),
+ current4_(other.current4_),
+ begin5_(other.begin5_),
+ end5_(other.end5_),
+ current5_(other.current5_),
+ begin6_(other.begin6_),
+ end6_(other.end6_),
+ current6_(other.current6_),
+ begin7_(other.begin7_),
+ end7_(other.end7_),
+ current7_(other.current7_),
+ begin8_(other.begin8_),
+ end8_(other.end8_),
+ current8_(other.current8_),
+ begin9_(other.begin9_),
+ end9_(other.end9_),
+ current9_(other.current9_),
+ begin10_(other.begin10_),
+ end10_(other.end10_),
+ current10_(other.current10_) {
+ ComputeCurrentValue();
+ }
+
+ void ComputeCurrentValue() {
+ if (!AtEnd())
+ current_value_ = ParamType(*current1_, *current2_, *current3_,
+ *current4_, *current5_, *current6_, *current7_, *current8_,
+ *current9_, *current10_);
+ }
+ bool AtEnd() const {
+ // We must report iterator past the end of the range when either of the
+ // component iterators has reached the end of its range.
+ return
+ current1_ == end1_ ||
+ current2_ == end2_ ||
+ current3_ == end3_ ||
+ current4_ == end4_ ||
+ current5_ == end5_ ||
+ current6_ == end6_ ||
+ current7_ == end7_ ||
+ current8_ == end8_ ||
+ current9_ == end9_ ||
+ current10_ == end10_;
+ }
+
+ // No implementation - assignment is unsupported.
+ void operator=(const Iterator& other);
+
+ const ParamGeneratorInterface<ParamType>* const base_;
+ // begin[i]_ and end[i]_ define the i-th range that Iterator traverses.
+ // current[i]_ is the actual traversing iterator.
+ const typename ParamGenerator<T1>::iterator begin1_;
+ const typename ParamGenerator<T1>::iterator end1_;
+ typename ParamGenerator<T1>::iterator current1_;
+ const typename ParamGenerator<T2>::iterator begin2_;
+ const typename ParamGenerator<T2>::iterator end2_;
+ typename ParamGenerator<T2>::iterator current2_;
+ const typename ParamGenerator<T3>::iterator begin3_;
+ const typename ParamGenerator<T3>::iterator end3_;
+ typename ParamGenerator<T3>::iterator current3_;
+ const typename ParamGenerator<T4>::iterator begin4_;
+ const typename ParamGenerator<T4>::iterator end4_;
+ typename ParamGenerator<T4>::iterator current4_;
+ const typename ParamGenerator<T5>::iterator begin5_;
+ const typename ParamGenerator<T5>::iterator end5_;
+ typename ParamGenerator<T5>::iterator current5_;
+ const typename ParamGenerator<T6>::iterator begin6_;
+ const typename ParamGenerator<T6>::iterator end6_;
+ typename ParamGenerator<T6>::iterator current6_;
+ const typename ParamGenerator<T7>::iterator begin7_;
+ const typename ParamGenerator<T7>::iterator end7_;
+ typename ParamGenerator<T7>::iterator current7_;
+ const typename ParamGenerator<T8>::iterator begin8_;
+ const typename ParamGenerator<T8>::iterator end8_;
+ typename ParamGenerator<T8>::iterator current8_;
+ const typename ParamGenerator<T9>::iterator begin9_;
+ const typename ParamGenerator<T9>::iterator end9_;
+ typename ParamGenerator<T9>::iterator current9_;
+ const typename ParamGenerator<T10>::iterator begin10_;
+ const typename ParamGenerator<T10>::iterator end10_;
+ typename ParamGenerator<T10>::iterator current10_;
+ ParamType current_value_;
+ }; // class CartesianProductGenerator10::Iterator
+
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductGenerator10& other);
+
+ const ParamGenerator<T1> g1_;
+ const ParamGenerator<T2> g2_;
+ const ParamGenerator<T3> g3_;
+ const ParamGenerator<T4> g4_;
+ const ParamGenerator<T5> g5_;
+ const ParamGenerator<T6> g6_;
+ const ParamGenerator<T7> g7_;
+ const ParamGenerator<T8> g8_;
+ const ParamGenerator<T9> g9_;
+ const ParamGenerator<T10> g10_;
+}; // class CartesianProductGenerator10
+
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// Helper classes providing Combine() with polymorphic features. They allow
+// casting CartesianProductGeneratorN<T> to ParamGenerator<U> if T is
+// convertible to U.
+//
+template <class Generator1, class Generator2>
+class CartesianProductHolder2 {
+ public:
+CartesianProductHolder2(const Generator1& g1, const Generator2& g2)
+ : g1_(g1), g2_(g2) {}
+ template <typename T1, typename T2>
+ operator ParamGenerator< ::std::tr1::tuple<T1, T2> >() const {
+ return ParamGenerator< ::std::tr1::tuple<T1, T2> >(
+ new CartesianProductGenerator2<T1, T2>(
+ static_cast<ParamGenerator<T1> >(g1_),
+ static_cast<ParamGenerator<T2> >(g2_)));
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductHolder2& other);
+
+ const Generator1 g1_;
+ const Generator2 g2_;
+}; // class CartesianProductHolder2
+
+template <class Generator1, class Generator2, class Generator3>
+class CartesianProductHolder3 {
+ public:
+CartesianProductHolder3(const Generator1& g1, const Generator2& g2,
+ const Generator3& g3)
+ : g1_(g1), g2_(g2), g3_(g3) {}
+ template <typename T1, typename T2, typename T3>
+ operator ParamGenerator< ::std::tr1::tuple<T1, T2, T3> >() const {
+ return ParamGenerator< ::std::tr1::tuple<T1, T2, T3> >(
+ new CartesianProductGenerator3<T1, T2, T3>(
+ static_cast<ParamGenerator<T1> >(g1_),
+ static_cast<ParamGenerator<T2> >(g2_),
+ static_cast<ParamGenerator<T3> >(g3_)));
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductHolder3& other);
+
+ const Generator1 g1_;
+ const Generator2 g2_;
+ const Generator3 g3_;
+}; // class CartesianProductHolder3
+
+template <class Generator1, class Generator2, class Generator3,
+ class Generator4>
+class CartesianProductHolder4 {
+ public:
+CartesianProductHolder4(const Generator1& g1, const Generator2& g2,
+ const Generator3& g3, const Generator4& g4)
+ : g1_(g1), g2_(g2), g3_(g3), g4_(g4) {}
+ template <typename T1, typename T2, typename T3, typename T4>
+ operator ParamGenerator< ::std::tr1::tuple<T1, T2, T3, T4> >() const {
+ return ParamGenerator< ::std::tr1::tuple<T1, T2, T3, T4> >(
+ new CartesianProductGenerator4<T1, T2, T3, T4>(
+ static_cast<ParamGenerator<T1> >(g1_),
+ static_cast<ParamGenerator<T2> >(g2_),
+ static_cast<ParamGenerator<T3> >(g3_),
+ static_cast<ParamGenerator<T4> >(g4_)));
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductHolder4& other);
+
+ const Generator1 g1_;
+ const Generator2 g2_;
+ const Generator3 g3_;
+ const Generator4 g4_;
+}; // class CartesianProductHolder4
+
+template <class Generator1, class Generator2, class Generator3,
+ class Generator4, class Generator5>
+class CartesianProductHolder5 {
+ public:
+CartesianProductHolder5(const Generator1& g1, const Generator2& g2,
+ const Generator3& g3, const Generator4& g4, const Generator5& g5)
+ : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5) {}
+ template <typename T1, typename T2, typename T3, typename T4, typename T5>
+ operator ParamGenerator< ::std::tr1::tuple<T1, T2, T3, T4, T5> >() const {
+ return ParamGenerator< ::std::tr1::tuple<T1, T2, T3, T4, T5> >(
+ new CartesianProductGenerator5<T1, T2, T3, T4, T5>(
+ static_cast<ParamGenerator<T1> >(g1_),
+ static_cast<ParamGenerator<T2> >(g2_),
+ static_cast<ParamGenerator<T3> >(g3_),
+ static_cast<ParamGenerator<T4> >(g4_),
+ static_cast<ParamGenerator<T5> >(g5_)));
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductHolder5& other);
+
+ const Generator1 g1_;
+ const Generator2 g2_;
+ const Generator3 g3_;
+ const Generator4 g4_;
+ const Generator5 g5_;
+}; // class CartesianProductHolder5
+
+template <class Generator1, class Generator2, class Generator3,
+ class Generator4, class Generator5, class Generator6>
+class CartesianProductHolder6 {
+ public:
+CartesianProductHolder6(const Generator1& g1, const Generator2& g2,
+ const Generator3& g3, const Generator4& g4, const Generator5& g5,
+ const Generator6& g6)
+ : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6) {}
+ template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6>
+ operator ParamGenerator< ::std::tr1::tuple<T1, T2, T3, T4, T5, T6> >() const {
+ return ParamGenerator< ::std::tr1::tuple<T1, T2, T3, T4, T5, T6> >(
+ new CartesianProductGenerator6<T1, T2, T3, T4, T5, T6>(
+ static_cast<ParamGenerator<T1> >(g1_),
+ static_cast<ParamGenerator<T2> >(g2_),
+ static_cast<ParamGenerator<T3> >(g3_),
+ static_cast<ParamGenerator<T4> >(g4_),
+ static_cast<ParamGenerator<T5> >(g5_),
+ static_cast<ParamGenerator<T6> >(g6_)));
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductHolder6& other);
+
+ const Generator1 g1_;
+ const Generator2 g2_;
+ const Generator3 g3_;
+ const Generator4 g4_;
+ const Generator5 g5_;
+ const Generator6 g6_;
+}; // class CartesianProductHolder6
+
+template <class Generator1, class Generator2, class Generator3,
+ class Generator4, class Generator5, class Generator6, class Generator7>
+class CartesianProductHolder7 {
+ public:
+CartesianProductHolder7(const Generator1& g1, const Generator2& g2,
+ const Generator3& g3, const Generator4& g4, const Generator5& g5,
+ const Generator6& g6, const Generator7& g7)
+ : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6), g7_(g7) {}
+ template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7>
+ operator ParamGenerator< ::std::tr1::tuple<T1, T2, T3, T4, T5, T6,
+ T7> >() const {
+ return ParamGenerator< ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7> >(
+ new CartesianProductGenerator7<T1, T2, T3, T4, T5, T6, T7>(
+ static_cast<ParamGenerator<T1> >(g1_),
+ static_cast<ParamGenerator<T2> >(g2_),
+ static_cast<ParamGenerator<T3> >(g3_),
+ static_cast<ParamGenerator<T4> >(g4_),
+ static_cast<ParamGenerator<T5> >(g5_),
+ static_cast<ParamGenerator<T6> >(g6_),
+ static_cast<ParamGenerator<T7> >(g7_)));
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductHolder7& other);
+
+ const Generator1 g1_;
+ const Generator2 g2_;
+ const Generator3 g3_;
+ const Generator4 g4_;
+ const Generator5 g5_;
+ const Generator6 g6_;
+ const Generator7 g7_;
+}; // class CartesianProductHolder7
+
+template <class Generator1, class Generator2, class Generator3,
+ class Generator4, class Generator5, class Generator6, class Generator7,
+ class Generator8>
+class CartesianProductHolder8 {
+ public:
+CartesianProductHolder8(const Generator1& g1, const Generator2& g2,
+ const Generator3& g3, const Generator4& g4, const Generator5& g5,
+ const Generator6& g6, const Generator7& g7, const Generator8& g8)
+ : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6), g7_(g7),
+ g8_(g8) {}
+ template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8>
+ operator ParamGenerator< ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7,
+ T8> >() const {
+ return ParamGenerator< ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7, T8> >(
+ new CartesianProductGenerator8<T1, T2, T3, T4, T5, T6, T7, T8>(
+ static_cast<ParamGenerator<T1> >(g1_),
+ static_cast<ParamGenerator<T2> >(g2_),
+ static_cast<ParamGenerator<T3> >(g3_),
+ static_cast<ParamGenerator<T4> >(g4_),
+ static_cast<ParamGenerator<T5> >(g5_),
+ static_cast<ParamGenerator<T6> >(g6_),
+ static_cast<ParamGenerator<T7> >(g7_),
+ static_cast<ParamGenerator<T8> >(g8_)));
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductHolder8& other);
+
+ const Generator1 g1_;
+ const Generator2 g2_;
+ const Generator3 g3_;
+ const Generator4 g4_;
+ const Generator5 g5_;
+ const Generator6 g6_;
+ const Generator7 g7_;
+ const Generator8 g8_;
+}; // class CartesianProductHolder8
+
+template <class Generator1, class Generator2, class Generator3,
+ class Generator4, class Generator5, class Generator6, class Generator7,
+ class Generator8, class Generator9>
+class CartesianProductHolder9 {
+ public:
+CartesianProductHolder9(const Generator1& g1, const Generator2& g2,
+ const Generator3& g3, const Generator4& g4, const Generator5& g5,
+ const Generator6& g6, const Generator7& g7, const Generator8& g8,
+ const Generator9& g9)
+ : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6), g7_(g7), g8_(g8),
+ g9_(g9) {}
+ template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9>
+ operator ParamGenerator< ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7, T8,
+ T9> >() const {
+ return ParamGenerator< ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7, T8,
+ T9> >(
+ new CartesianProductGenerator9<T1, T2, T3, T4, T5, T6, T7, T8, T9>(
+ static_cast<ParamGenerator<T1> >(g1_),
+ static_cast<ParamGenerator<T2> >(g2_),
+ static_cast<ParamGenerator<T3> >(g3_),
+ static_cast<ParamGenerator<T4> >(g4_),
+ static_cast<ParamGenerator<T5> >(g5_),
+ static_cast<ParamGenerator<T6> >(g6_),
+ static_cast<ParamGenerator<T7> >(g7_),
+ static_cast<ParamGenerator<T8> >(g8_),
+ static_cast<ParamGenerator<T9> >(g9_)));
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductHolder9& other);
+
+ const Generator1 g1_;
+ const Generator2 g2_;
+ const Generator3 g3_;
+ const Generator4 g4_;
+ const Generator5 g5_;
+ const Generator6 g6_;
+ const Generator7 g7_;
+ const Generator8 g8_;
+ const Generator9 g9_;
+}; // class CartesianProductHolder9
+
+template <class Generator1, class Generator2, class Generator3,
+ class Generator4, class Generator5, class Generator6, class Generator7,
+ class Generator8, class Generator9, class Generator10>
+class CartesianProductHolder10 {
+ public:
+CartesianProductHolder10(const Generator1& g1, const Generator2& g2,
+ const Generator3& g3, const Generator4& g4, const Generator5& g5,
+ const Generator6& g6, const Generator7& g7, const Generator8& g8,
+ const Generator9& g9, const Generator10& g10)
+ : g1_(g1), g2_(g2), g3_(g3), g4_(g4), g5_(g5), g6_(g6), g7_(g7), g8_(g8),
+ g9_(g9), g10_(g10) {}
+ template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10>
+ operator ParamGenerator< ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7, T8,
+ T9, T10> >() const {
+ return ParamGenerator< ::std::tr1::tuple<T1, T2, T3, T4, T5, T6, T7, T8,
+ T9, T10> >(
+ new CartesianProductGenerator10<T1, T2, T3, T4, T5, T6, T7, T8, T9,
+ T10>(
+ static_cast<ParamGenerator<T1> >(g1_),
+ static_cast<ParamGenerator<T2> >(g2_),
+ static_cast<ParamGenerator<T3> >(g3_),
+ static_cast<ParamGenerator<T4> >(g4_),
+ static_cast<ParamGenerator<T5> >(g5_),
+ static_cast<ParamGenerator<T6> >(g6_),
+ static_cast<ParamGenerator<T7> >(g7_),
+ static_cast<ParamGenerator<T8> >(g8_),
+ static_cast<ParamGenerator<T9> >(g9_),
+ static_cast<ParamGenerator<T10> >(g10_)));
+ }
+
+ private:
+ // No implementation - assignment is unsupported.
+ void operator=(const CartesianProductHolder10& other);
+
+ const Generator1 g1_;
+ const Generator2 g2_;
+ const Generator3 g3_;
+ const Generator4 g4_;
+ const Generator5 g5_;
+ const Generator6 g6_;
+ const Generator7 g7_;
+ const Generator8 g8_;
+ const Generator9 g9_;
+ const Generator10 g10_;
+}; // class CartesianProductHolder10
+
+# endif // GTEST_HAS_COMBINE
+
+} // namespace internal
+} // namespace testing
+
+#endif // GTEST_HAS_PARAM_TEST
+
+#endif // GTEST_INCLUDE_GTEST_INTERNAL_GTEST_PARAM_UTIL_GENERATED_H_
+
+#if GTEST_HAS_PARAM_TEST
+
+namespace testing {
+
+// Functions producing parameter generators.
+//
+// Google Test uses these generators to produce parameters for value-
+// parameterized tests. When a parameterized test case is instantiated
+// with a particular generator, Google Test creates and runs tests
+// for each element in the sequence produced by the generator.
+//
+// In the following sample, tests from test case FooTest are instantiated
+// each three times with parameter values 3, 5, and 8:
+//
+// class FooTest : public TestWithParam<int> { ... };
+//
+// TEST_P(FooTest, TestThis) {
+// }
+// TEST_P(FooTest, TestThat) {
+// }
+// INSTANTIATE_TEST_CASE_P(TestSequence, FooTest, Values(3, 5, 8));
+//
+
+// Range() returns generators providing sequences of values in a range.
+//
+// Synopsis:
+// Range(start, end)
+// - returns a generator producing a sequence of values {start, start+1,
+// start+2, ..., }.
+// Range(start, end, step)
+// - returns a generator producing a sequence of values {start, start+step,
+// start+step+step, ..., }.
+// Notes:
+// * The generated sequences never include end. For example, Range(1, 5)
+// returns a generator producing a sequence {1, 2, 3, 4}. Range(1, 9, 2)
+// returns a generator producing {1, 3, 5, 7}.
+// * start and end must have the same type. That type may be any integral or
+// floating-point type or a user defined type satisfying these conditions:
+// * It must be assignable (have operator=() defined).
+// * It must have operator+() (operator+(int-compatible type) for
+// two-operand version).
+// * It must have operator<() defined.
+// Elements in the resulting sequences will also have that type.
+// * Condition start < end must be satisfied in order for resulting sequences
+// to contain any elements.
+//
+template <typename T, typename IncrementT>
+internal::ParamGenerator<T> Range(T start, T end, IncrementT step) {
+ return internal::ParamGenerator<T>(
+ new internal::RangeGenerator<T, IncrementT>(start, end, step));
+}
+
+template <typename T>
+internal::ParamGenerator<T> Range(T start, T end) {
+ return Range(start, end, 1);
+}
+
+// ValuesIn() function allows generation of tests with parameters coming from
+// a container.
+//
+// Synopsis:
+// ValuesIn(const T (&array)[N])
+// - returns a generator producing sequences with elements from
+// a C-style array.
+// ValuesIn(const Container& container)
+// - returns a generator producing sequences with elements from
+// an STL-style container.
+// ValuesIn(Iterator begin, Iterator end)
+// - returns a generator producing sequences with elements from
+// a range [begin, end) defined by a pair of STL-style iterators. These
+// iterators can also be plain C pointers.
+//
+// Please note that ValuesIn copies the values from the containers
+// passed in and keeps them to generate tests in RUN_ALL_TESTS().
+//
+// Examples:
+//
+// This instantiates tests from test case StringTest
+// each with C-string values of "foo", "bar", and "baz":
+//
+// const char* strings[] = {"foo", "bar", "baz"};
+// INSTANTIATE_TEST_CASE_P(StringSequence, SrtingTest, ValuesIn(strings));
+//
+// This instantiates tests from test case StlStringTest
+// each with STL strings with values "a" and "b":
+//
+// ::std::vector< ::std::string> GetParameterStrings() {
+// ::std::vector< ::std::string> v;
+// v.push_back("a");
+// v.push_back("b");
+// return v;
+// }
+//
+// INSTANTIATE_TEST_CASE_P(CharSequence,
+// StlStringTest,
+// ValuesIn(GetParameterStrings()));
+//
+//
+// This will also instantiate tests from CharTest
+// each with parameter values 'a' and 'b':
+//
+// ::std::list<char> GetParameterChars() {
+// ::std::list<char> list;
+// list.push_back('a');
+// list.push_back('b');
+// return list;
+// }
+// ::std::list<char> l = GetParameterChars();
+// INSTANTIATE_TEST_CASE_P(CharSequence2,
+// CharTest,
+// ValuesIn(l.begin(), l.end()));
+//
+template <typename ForwardIterator>
+internal::ParamGenerator<
+ typename ::testing::internal::IteratorTraits<ForwardIterator>::value_type>
+ValuesIn(ForwardIterator begin, ForwardIterator end) {
+ typedef typename ::testing::internal::IteratorTraits<ForwardIterator>
+ ::value_type ParamType;
+ return internal::ParamGenerator<ParamType>(
+ new internal::ValuesInIteratorRangeGenerator<ParamType>(begin, end));
+}
+
+template <typename T, size_t N>
+internal::ParamGenerator<T> ValuesIn(const T (&array)[N]) {
+ return ValuesIn(array, array + N);
+}
+
+template <class Container>
+internal::ParamGenerator<typename Container::value_type> ValuesIn(
+ const Container& container) {
+ return ValuesIn(container.begin(), container.end());
+}
+
+// Values() allows generating tests from explicitly specified list of
+// parameters.
+//
+// Synopsis:
+// Values(T v1, T v2, ..., T vN)
+// - returns a generator producing sequences with elements v1, v2, ..., vN.
+//
+// For example, this instantiates tests from test case BarTest each
+// with values "one", "two", and "three":
+//
+// INSTANTIATE_TEST_CASE_P(NumSequence, BarTest, Values("one", "two", "three"));
+//
+// This instantiates tests from test case BazTest each with values 1, 2, 3.5.
+// The exact type of values will depend on the type of parameter in BazTest.
+//
+// INSTANTIATE_TEST_CASE_P(FloatingNumbers, BazTest, Values(1, 2, 3.5));
+//
+// Currently, Values() supports from 1 to 50 parameters.
+//
+template <typename T1>
+internal::ValueArray1<T1> Values(T1 v1) {
+ return internal::ValueArray1<T1>(v1);
+}
+
+template <typename T1, typename T2>
+internal::ValueArray2<T1, T2> Values(T1 v1, T2 v2) {
+ return internal::ValueArray2<T1, T2>(v1, v2);
+}
+
+template <typename T1, typename T2, typename T3>
+internal::ValueArray3<T1, T2, T3> Values(T1 v1, T2 v2, T3 v3) {
+ return internal::ValueArray3<T1, T2, T3>(v1, v2, v3);
+}
+
+template <typename T1, typename T2, typename T3, typename T4>
+internal::ValueArray4<T1, T2, T3, T4> Values(T1 v1, T2 v2, T3 v3, T4 v4) {
+ return internal::ValueArray4<T1, T2, T3, T4>(v1, v2, v3, v4);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5>
+internal::ValueArray5<T1, T2, T3, T4, T5> Values(T1 v1, T2 v2, T3 v3, T4 v4,
+ T5 v5) {
+ return internal::ValueArray5<T1, T2, T3, T4, T5>(v1, v2, v3, v4, v5);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6>
+internal::ValueArray6<T1, T2, T3, T4, T5, T6> Values(T1 v1, T2 v2, T3 v3,
+ T4 v4, T5 v5, T6 v6) {
+ return internal::ValueArray6<T1, T2, T3, T4, T5, T6>(v1, v2, v3, v4, v5, v6);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7>
+internal::ValueArray7<T1, T2, T3, T4, T5, T6, T7> Values(T1 v1, T2 v2, T3 v3,
+ T4 v4, T5 v5, T6 v6, T7 v7) {
+ return internal::ValueArray7<T1, T2, T3, T4, T5, T6, T7>(v1, v2, v3, v4, v5,
+ v6, v7);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8>
+internal::ValueArray8<T1, T2, T3, T4, T5, T6, T7, T8> Values(T1 v1, T2 v2,
+ T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8) {
+ return internal::ValueArray8<T1, T2, T3, T4, T5, T6, T7, T8>(v1, v2, v3, v4,
+ v5, v6, v7, v8);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9>
+internal::ValueArray9<T1, T2, T3, T4, T5, T6, T7, T8, T9> Values(T1 v1, T2 v2,
+ T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9) {
+ return internal::ValueArray9<T1, T2, T3, T4, T5, T6, T7, T8, T9>(v1, v2, v3,
+ v4, v5, v6, v7, v8, v9);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10>
+internal::ValueArray10<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10> Values(T1 v1,
+ T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10) {
+ return internal::ValueArray10<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10>(v1,
+ v2, v3, v4, v5, v6, v7, v8, v9, v10);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11>
+internal::ValueArray11<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10,
+ T11> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11) {
+ return internal::ValueArray11<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10,
+ T11>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12>
+internal::ValueArray12<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12) {
+ return internal::ValueArray12<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13>
+internal::ValueArray13<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12,
+ T13> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13) {
+ return internal::ValueArray13<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14>
+internal::ValueArray14<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14) {
+ return internal::ValueArray14<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13,
+ v14);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15>
+internal::ValueArray15<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8,
+ T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15) {
+ return internal::ValueArray15<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12,
+ v13, v14, v15);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16>
+internal::ValueArray16<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7,
+ T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
+ T16 v16) {
+ return internal::ValueArray16<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11,
+ v12, v13, v14, v15, v16);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17>
+internal::ValueArray17<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7,
+ T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
+ T16 v16, T17 v17) {
+ return internal::ValueArray17<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10,
+ v11, v12, v13, v14, v15, v16, v17);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18>
+internal::ValueArray18<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6,
+ T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
+ T16 v16, T17 v17, T18 v18) {
+ return internal::ValueArray18<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18>(v1, v2, v3, v4, v5, v6, v7, v8, v9,
+ v10, v11, v12, v13, v14, v15, v16, v17, v18);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19>
+internal::ValueArray19<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5,
+ T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14,
+ T15 v15, T16 v16, T17 v17, T18 v18, T19 v19) {
+ return internal::ValueArray19<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19>(v1, v2, v3, v4, v5, v6, v7, v8,
+ v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20>
+internal::ValueArray20<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20> Values(T1 v1, T2 v2, T3 v3, T4 v4,
+ T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13,
+ T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20) {
+ return internal::ValueArray20<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20>(v1, v2, v3, v4, v5, v6, v7,
+ v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21>
+internal::ValueArray21<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21> Values(T1 v1, T2 v2, T3 v3, T4 v4,
+ T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13,
+ T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21) {
+ return internal::ValueArray21<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21>(v1, v2, v3, v4, v5, v6,
+ v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22>
+internal::ValueArray22<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22> Values(T1 v1, T2 v2, T3 v3,
+ T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12,
+ T13 v13, T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20,
+ T21 v21, T22 v22) {
+ return internal::ValueArray22<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22>(v1, v2, v3, v4,
+ v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19,
+ v20, v21, v22);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23>
+internal::ValueArray23<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23> Values(T1 v1, T2 v2,
+ T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12,
+ T13 v13, T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20,
+ T21 v21, T22 v22, T23 v23) {
+ return internal::ValueArray23<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23>(v1, v2, v3,
+ v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19,
+ v20, v21, v22, v23);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24>
+internal::ValueArray24<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24> Values(T1 v1, T2 v2,
+ T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12,
+ T13 v13, T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20,
+ T21 v21, T22 v22, T23 v23, T24 v24) {
+ return internal::ValueArray24<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24>(v1, v2,
+ v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18,
+ v19, v20, v21, v22, v23, v24);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25>
+internal::ValueArray25<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25> Values(T1 v1,
+ T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11,
+ T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19,
+ T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25) {
+ return internal::ValueArray25<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25>(v1,
+ v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17,
+ v18, v19, v20, v21, v22, v23, v24, v25);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26>
+internal::ValueArray26<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26) {
+ return internal::ValueArray26<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15,
+ v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27>
+internal::ValueArray27<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26,
+ T27> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27) {
+ return internal::ValueArray27<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14,
+ v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28>
+internal::ValueArray28<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27,
+ T28> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28) {
+ return internal::ValueArray28<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13,
+ v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27,
+ v28);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29>
+internal::ValueArray29<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29) {
+ return internal::ValueArray29<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12,
+ v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26,
+ v27, v28, v29);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30>
+internal::ValueArray30<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8,
+ T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16,
+ T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24,
+ T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30) {
+ return internal::ValueArray30<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11,
+ v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25,
+ v26, v27, v28, v29, v30);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31>
+internal::ValueArray31<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7,
+ T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
+ T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23,
+ T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31) {
+ return internal::ValueArray31<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10,
+ v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24,
+ v25, v26, v27, v28, v29, v30, v31);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32>
+internal::ValueArray32<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7,
+ T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
+ T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23,
+ T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31,
+ T32 v32) {
+ return internal::ValueArray32<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32>(v1, v2, v3, v4, v5, v6, v7, v8, v9,
+ v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23,
+ v24, v25, v26, v27, v28, v29, v30, v31, v32);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33>
+internal::ValueArray33<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6,
+ T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
+ T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23,
+ T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31,
+ T32 v32, T33 v33) {
+ return internal::ValueArray33<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33>(v1, v2, v3, v4, v5, v6, v7, v8,
+ v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23,
+ v24, v25, v26, v27, v28, v29, v30, v31, v32, v33);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34>
+internal::ValueArray34<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5,
+ T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14,
+ T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22,
+ T23 v23, T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30,
+ T31 v31, T32 v32, T33 v33, T34 v34) {
+ return internal::ValueArray34<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34>(v1, v2, v3, v4, v5, v6, v7,
+ v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22,
+ v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35>
+internal::ValueArray35<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35> Values(T1 v1, T2 v2, T3 v3, T4 v4,
+ T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13,
+ T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21,
+ T22 v22, T23 v23, T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29,
+ T30 v30, T31 v31, T32 v32, T33 v33, T34 v34, T35 v35) {
+ return internal::ValueArray35<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34, T35>(v1, v2, v3, v4, v5, v6,
+ v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21,
+ v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36>
+internal::ValueArray36<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36> Values(T1 v1, T2 v2, T3 v3, T4 v4,
+ T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13,
+ T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21,
+ T22 v22, T23 v23, T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29,
+ T30 v30, T31 v31, T32 v32, T33 v33, T34 v34, T35 v35, T36 v36) {
+ return internal::ValueArray36<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36>(v1, v2, v3, v4,
+ v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19,
+ v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33,
+ v34, v35, v36);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37>
+internal::ValueArray37<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37> Values(T1 v1, T2 v2, T3 v3,
+ T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12,
+ T13 v13, T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20,
+ T21 v21, T22 v22, T23 v23, T24 v24, T25 v25, T26 v26, T27 v27, T28 v28,
+ T29 v29, T30 v30, T31 v31, T32 v32, T33 v33, T34 v34, T35 v35, T36 v36,
+ T37 v37) {
+ return internal::ValueArray37<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37>(v1, v2, v3,
+ v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19,
+ v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33,
+ v34, v35, v36, v37);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38>
+internal::ValueArray38<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38> Values(T1 v1, T2 v2,
+ T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12,
+ T13 v13, T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20,
+ T21 v21, T22 v22, T23 v23, T24 v24, T25 v25, T26 v26, T27 v27, T28 v28,
+ T29 v29, T30 v30, T31 v31, T32 v32, T33 v33, T34 v34, T35 v35, T36 v36,
+ T37 v37, T38 v38) {
+ return internal::ValueArray38<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38>(v1, v2,
+ v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18,
+ v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32,
+ v33, v34, v35, v36, v37, v38);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39>
+internal::ValueArray39<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39> Values(T1 v1, T2 v2,
+ T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12,
+ T13 v13, T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20,
+ T21 v21, T22 v22, T23 v23, T24 v24, T25 v25, T26 v26, T27 v27, T28 v28,
+ T29 v29, T30 v30, T31 v31, T32 v32, T33 v33, T34 v34, T35 v35, T36 v36,
+ T37 v37, T38 v38, T39 v39) {
+ return internal::ValueArray39<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39>(v1,
+ v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17,
+ v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31,
+ v32, v33, v34, v35, v36, v37, v38, v39);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40>
+internal::ValueArray40<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40> Values(T1 v1,
+ T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11,
+ T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19,
+ T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25, T26 v26, T27 v27,
+ T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33, T34 v34, T35 v35,
+ T36 v36, T37 v37, T38 v38, T39 v39, T40 v40) {
+ return internal::ValueArray40<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+ T40>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15,
+ v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28, v29,
+ v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41>
+internal::ValueArray41<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40,
+ T41> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41) {
+ return internal::ValueArray41<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+ T40, T41>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14,
+ v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27, v28,
+ v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42>
+internal::ValueArray42<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41,
+ T42> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+ T42 v42) {
+ return internal::ValueArray42<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+ T40, T41, T42>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13,
+ v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26, v27,
+ v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40, v41,
+ v42);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43>
+internal::ValueArray43<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42,
+ T43> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+ T42 v42, T43 v43) {
+ return internal::ValueArray43<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+ T40, T41, T42, T43>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12,
+ v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25, v26,
+ v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39, v40,
+ v41, v42, v43);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44>
+internal::ValueArray44<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ T44> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8, T9 v9,
+ T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16, T17 v17,
+ T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24, T25 v25,
+ T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32, T33 v33,
+ T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40, T41 v41,
+ T42 v42, T43 v43, T44 v44) {
+ return internal::ValueArray44<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+ T40, T41, T42, T43, T44>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11,
+ v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24, v25,
+ v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38, v39,
+ v40, v41, v42, v43, v44);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45>
+internal::ValueArray45<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ T44, T45> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7, T8 v8,
+ T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15, T16 v16,
+ T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23, T24 v24,
+ T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31, T32 v32,
+ T33 v33, T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39, T40 v40,
+ T41 v41, T42 v42, T43 v43, T44 v44, T45 v45) {
+ return internal::ValueArray45<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+ T40, T41, T42, T43, T44, T45>(v1, v2, v3, v4, v5, v6, v7, v8, v9, v10,
+ v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23, v24,
+ v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37, v38,
+ v39, v40, v41, v42, v43, v44, v45);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46>
+internal::ValueArray46<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ T44, T45, T46> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7,
+ T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
+ T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23,
+ T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31,
+ T32 v32, T33 v33, T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39,
+ T40 v40, T41 v41, T42 v42, T43 v43, T44 v44, T45 v45, T46 v46) {
+ return internal::ValueArray46<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+ T40, T41, T42, T43, T44, T45, T46>(v1, v2, v3, v4, v5, v6, v7, v8, v9,
+ v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23,
+ v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37,
+ v38, v39, v40, v41, v42, v43, v44, v45, v46);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46, typename T47>
+internal::ValueArray47<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ T44, T45, T46, T47> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6, T7 v7,
+ T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
+ T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23,
+ T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31,
+ T32 v32, T33 v33, T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39,
+ T40 v40, T41 v41, T42 v42, T43 v43, T44 v44, T45 v45, T46 v46, T47 v47) {
+ return internal::ValueArray47<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+ T40, T41, T42, T43, T44, T45, T46, T47>(v1, v2, v3, v4, v5, v6, v7, v8,
+ v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22, v23,
+ v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36, v37,
+ v38, v39, v40, v41, v42, v43, v44, v45, v46, v47);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46, typename T47, typename T48>
+internal::ValueArray48<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ T44, T45, T46, T47, T48> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5, T6 v6,
+ T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14, T15 v15,
+ T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22, T23 v23,
+ T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30, T31 v31,
+ T32 v32, T33 v33, T34 v34, T35 v35, T36 v36, T37 v37, T38 v38, T39 v39,
+ T40 v40, T41 v41, T42 v42, T43 v43, T44 v44, T45 v45, T46 v46, T47 v47,
+ T48 v48) {
+ return internal::ValueArray48<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+ T40, T41, T42, T43, T44, T45, T46, T47, T48>(v1, v2, v3, v4, v5, v6, v7,
+ v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21, v22,
+ v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35, v36,
+ v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46, typename T47, typename T48, typename T49>
+internal::ValueArray49<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ T44, T45, T46, T47, T48, T49> Values(T1 v1, T2 v2, T3 v3, T4 v4, T5 v5,
+ T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13, T14 v14,
+ T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21, T22 v22,
+ T23 v23, T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29, T30 v30,
+ T31 v31, T32 v32, T33 v33, T34 v34, T35 v35, T36 v36, T37 v37, T38 v38,
+ T39 v39, T40 v40, T41 v41, T42 v42, T43 v43, T44 v44, T45 v45, T46 v46,
+ T47 v47, T48 v48, T49 v49) {
+ return internal::ValueArray49<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+ T40, T41, T42, T43, T44, T45, T46, T47, T48, T49>(v1, v2, v3, v4, v5, v6,
+ v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19, v20, v21,
+ v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33, v34, v35,
+ v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47, v48, v49);
+}
+
+template <typename T1, typename T2, typename T3, typename T4, typename T5,
+ typename T6, typename T7, typename T8, typename T9, typename T10,
+ typename T11, typename T12, typename T13, typename T14, typename T15,
+ typename T16, typename T17, typename T18, typename T19, typename T20,
+ typename T21, typename T22, typename T23, typename T24, typename T25,
+ typename T26, typename T27, typename T28, typename T29, typename T30,
+ typename T31, typename T32, typename T33, typename T34, typename T35,
+ typename T36, typename T37, typename T38, typename T39, typename T40,
+ typename T41, typename T42, typename T43, typename T44, typename T45,
+ typename T46, typename T47, typename T48, typename T49, typename T50>
+internal::ValueArray50<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13,
+ T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28,
+ T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39, T40, T41, T42, T43,
+ T44, T45, T46, T47, T48, T49, T50> Values(T1 v1, T2 v2, T3 v3, T4 v4,
+ T5 v5, T6 v6, T7 v7, T8 v8, T9 v9, T10 v10, T11 v11, T12 v12, T13 v13,
+ T14 v14, T15 v15, T16 v16, T17 v17, T18 v18, T19 v19, T20 v20, T21 v21,
+ T22 v22, T23 v23, T24 v24, T25 v25, T26 v26, T27 v27, T28 v28, T29 v29,
+ T30 v30, T31 v31, T32 v32, T33 v33, T34 v34, T35 v35, T36 v36, T37 v37,
+ T38 v38, T39 v39, T40 v40, T41 v41, T42 v42, T43 v43, T44 v44, T45 v45,
+ T46 v46, T47 v47, T48 v48, T49 v49, T50 v50) {
+ return internal::ValueArray50<T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11,
+ T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25,
+ T26, T27, T28, T29, T30, T31, T32, T33, T34, T35, T36, T37, T38, T39,
+ T40, T41, T42, T43, T44, T45, T46, T47, T48, T49, T50>(v1, v2, v3, v4,
+ v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15, v16, v17, v18, v19,
+ v20, v21, v22, v23, v24, v25, v26, v27, v28, v29, v30, v31, v32, v33,
+ v34, v35, v36, v37, v38, v39, v40, v41, v42, v43, v44, v45, v46, v47,
+ v48, v49, v50);
+}
+
+// Bool() allows generating tests with parameters in a set of (false, true).
+//
+// Synopsis:
+// Bool()
+// - returns a generator producing sequences with elements {false, true}.
+//
+// It is useful when testing code that depends on Boolean flags. Combinations
+// of multiple flags can be tested when several Bool()'s are combined using
+// Combine() function.
+//
+// In the following example all tests in the test case FlagDependentTest
+// will be instantiated twice with parameters false and true.
+//
+// class FlagDependentTest : public testing::TestWithParam<bool> {
+// virtual void SetUp() {
+// external_flag = GetParam();
+// }
+// }
+// INSTANTIATE_TEST_CASE_P(BoolSequence, FlagDependentTest, Bool());
+//
+inline internal::ParamGenerator<bool> Bool() {
+ return Values(false, true);
+}
+
+# if GTEST_HAS_COMBINE
+// Combine() allows the user to combine two or more sequences to produce
+// values of a Cartesian product of those sequences' elements.
+//
+// Synopsis:
+// Combine(gen1, gen2, ..., genN)
+// - returns a generator producing sequences with elements coming from
+// the Cartesian product of elements from the sequences generated by
+// gen1, gen2, ..., genN. The sequence elements will have a type of
+// tuple<T1, T2, ..., TN> where T1, T2, ..., TN are the types
+// of elements from sequences produces by gen1, gen2, ..., genN.
+//
+// Combine can have up to 10 arguments. This number is currently limited
+// by the maximum number of elements in the tuple implementation used by Google
+// Test.
+//
+// Example:
+//
+// This will instantiate tests in test case AnimalTest each one with
+// the parameter values tuple("cat", BLACK), tuple("cat", WHITE),
+// tuple("dog", BLACK), and tuple("dog", WHITE):
+//
+// enum Color { BLACK, GRAY, WHITE };
+// class AnimalTest
+// : public testing::TestWithParam<tuple<const char*, Color> > {...};
+//
+// TEST_P(AnimalTest, AnimalLooksNice) {...}
+//
+// INSTANTIATE_TEST_CASE_P(AnimalVariations, AnimalTest,
+// Combine(Values("cat", "dog"),
+// Values(BLACK, WHITE)));
+//
+// This will instantiate tests in FlagDependentTest with all variations of two
+// Boolean flags:
+//
+// class FlagDependentTest
+// : public testing::TestWithParam<tuple(bool, bool)> > {
+// virtual void SetUp() {
+// // Assigns external_flag_1 and external_flag_2 values from the tuple.
+// tie(external_flag_1, external_flag_2) = GetParam();
+// }
+// };
+//
+// TEST_P(FlagDependentTest, TestFeature1) {
+// // Test your code using external_flag_1 and external_flag_2 here.
+// }
+// INSTANTIATE_TEST_CASE_P(TwoBoolSequence, FlagDependentTest,
+// Combine(Bool(), Bool()));
+//
+template <typename Generator1, typename Generator2>
+internal::CartesianProductHolder2<Generator1, Generator2> Combine(
+ const Generator1& g1, const Generator2& g2) {
+ return internal::CartesianProductHolder2<Generator1, Generator2>(
+ g1, g2);
+}
+
+template <typename Generator1, typename Generator2, typename Generator3>
+internal::CartesianProductHolder3<Generator1, Generator2, Generator3> Combine(
+ const Generator1& g1, const Generator2& g2, const Generator3& g3) {
+ return internal::CartesianProductHolder3<Generator1, Generator2, Generator3>(
+ g1, g2, g3);
+}
+
+template <typename Generator1, typename Generator2, typename Generator3,
+ typename Generator4>
+internal::CartesianProductHolder4<Generator1, Generator2, Generator3,
+ Generator4> Combine(
+ const Generator1& g1, const Generator2& g2, const Generator3& g3,
+ const Generator4& g4) {
+ return internal::CartesianProductHolder4<Generator1, Generator2, Generator3,
+ Generator4>(
+ g1, g2, g3, g4);
+}
+
+template <typename Generator1, typename Generator2, typename Generator3,
+ typename Generator4, typename Generator5>
+internal::CartesianProductHolder5<Generator1, Generator2, Generator3,
+ Generator4, Generator5> Combine(
+ const Generator1& g1, const Generator2& g2, const Generator3& g3,
+ const Generator4& g4, const Generator5& g5) {
+ return internal::CartesianProductHolder5<Generator1, Generator2, Generator3,
+ Generator4, Generator5>(
+ g1, g2, g3, g4, g5);
+}
+
+template <typename Generator1, typename Generator2, typename Generator3,
+ typename Generator4, typename Generator5, typename Generator6>
+internal::CartesianProductHolder6<Generator1, Generator2, Generator3,
+ Generator4, Generator5, Generator6> Combine(
+ const Generator1& g1, const Generator2& g2, const Generator3& g3,
+ const Generator4& g4, const Generator5& g5, const Generator6& g6) {
+ return internal::CartesianProductHolder6<Generator1, Generator2, Generator3,
+ Generator4, Generator5, Generator6>(
+ g1, g2, g3, g4, g5, g6);
+}
+
+template <typename Generator1, typename Generator2, typename Generator3,
+ typename Generator4, typename Generator5, typename Generator6,
+ typename Generator7>
+internal::CartesianProductHolder7<Generator1, Generator2, Generator3,
+ Generator4, Generator5, Generator6, Generator7> Combine(
+ const Generator1& g1, const Generator2& g2, const Generator3& g3,
+ const Generator4& g4, const Generator5& g5, const Generator6& g6,
+ const Generator7& g7) {
+ return internal::CartesianProductHolder7<Generator1, Generator2, Generator3,
+ Generator4, Generator5, Generator6, Generator7>(
+ g1, g2, g3, g4, g5, g6, g7);
+}
+
+template <typename Generator1, typename Generator2, typename Generator3,
+ typename Generator4, typename Generator5, typename Generator6,
+ typename Generator7, typename Generator8>
+internal::CartesianProductHolder8<Generator1, Generator2, Generator3,
+ Generator4, Generator5, Generator6, Generator7, Generator8> Combine(
+ const Generator1& g1, const Generator2& g2, const Generator3& g3,
+ const Generator4& g4, const Generator5& g5, const Generator6& g6,
+ const Generator7& g7, const Generator8& g8) {
+ return internal::CartesianProductHolder8<Generator1, Generator2, Generator3,
+ Generator4, Generator5, Generator6, Generator7, Generator8>(
+ g1, g2, g3, g4, g5, g6, g7, g8);
+}
+
+template <typename Generator1, typename Generator2, typename Generator3,
+ typename Generator4, typename Generator5, typename Generator6,
+ typename Generator7, typename Generator8, typename Generator9>
+internal::CartesianProductHolder9<Generator1, Generator2, Generator3,
+ Generator4, Generator5, Generator6, Generator7, Generator8,
+ Generator9> Combine(
+ const Generator1& g1, const Generator2& g2, const Generator3& g3,
+ const Generator4& g4, const Generator5& g5, const Generator6& g6,
+ const Generator7& g7, const Generator8& g8, const Generator9& g9) {
+ return internal::CartesianProductHolder9<Generator1, Generator2, Generator3,
+ Generator4, Generator5, Generator6, Generator7, Generator8, Generator9>(
+ g1, g2, g3, g4, g5, g6, g7, g8, g9);
+}
+
+template <typename Generator1, typename Generator2, typename Generator3,
+ typename Generator4, typename Generator5, typename Generator6,
+ typename Generator7, typename Generator8, typename Generator9,
+ typename Generator10>
+internal::CartesianProductHolder10<Generator1, Generator2, Generator3,
+ Generator4, Generator5, Generator6, Generator7, Generator8, Generator9,
+ Generator10> Combine(
+ const Generator1& g1, const Generator2& g2, const Generator3& g3,
+ const Generator4& g4, const Generator5& g5, const Generator6& g6,
+ const Generator7& g7, const Generator8& g8, const Generator9& g9,
+ const Generator10& g10) {
+ return internal::CartesianProductHolder10<Generator1, Generator2, Generator3,
+ Generator4, Generator5, Generator6, Generator7, Generator8, Generator9,
+ Generator10>(
+ g1, g2, g3, g4, g5, g6, g7, g8, g9, g10);
+}
+# endif // GTEST_HAS_COMBINE
+
+
+
+# define TEST_P(test_case_name, test_name) \
+ class GTEST_TEST_CLASS_NAME_(test_case_name, test_name) \
+ : public test_case_name { \
+ public: \
+ GTEST_TEST_CLASS_NAME_(test_case_name, test_name)() {} \
+ virtual void TestBody(); \
+ private: \
+ static int AddToRegistry() { \
+ ::testing::UnitTest::GetInstance()->parameterized_test_registry(). \
+ GetTestCasePatternHolder<test_case_name>(\
+ #test_case_name, __FILE__, __LINE__)->AddTestPattern(\
+ #test_case_name, \
+ #test_name, \
+ new ::testing::internal::TestMetaFactory< \
+ GTEST_TEST_CLASS_NAME_(test_case_name, test_name)>()); \
+ return 0; \
+ } \
+ static int gtest_registering_dummy_; \
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(\
+ GTEST_TEST_CLASS_NAME_(test_case_name, test_name)); \
+ }; \
+ int GTEST_TEST_CLASS_NAME_(test_case_name, \
+ test_name)::gtest_registering_dummy_ = \
+ GTEST_TEST_CLASS_NAME_(test_case_name, test_name)::AddToRegistry(); \
+ void GTEST_TEST_CLASS_NAME_(test_case_name, test_name)::TestBody()
+
+# define INSTANTIATE_TEST_CASE_P(prefix, test_case_name, generator) \
+ ::testing::internal::ParamGenerator<test_case_name::ParamType> \
+ gtest_##prefix##test_case_name##_EvalGenerator_() { return generator; } \
+ int gtest_##prefix##test_case_name##_dummy_ = \
+ ::testing::UnitTest::GetInstance()->parameterized_test_registry(). \
+ GetTestCasePatternHolder<test_case_name>(\
+ #test_case_name, __FILE__, __LINE__)->AddTestCaseInstantiation(\
+ #prefix, \
+ >est_##prefix##test_case_name##_EvalGenerator_, \
+ __FILE__, __LINE__)
+
+} // namespace testing
+
+#endif // GTEST_HAS_PARAM_TEST
+
+#endif // GTEST_INCLUDE_GTEST_GTEST_PARAM_TEST_H_
+// Copyright 2006, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+//
+// Google C++ Testing Framework definitions useful in production code.
+
+#ifndef GTEST_INCLUDE_GTEST_GTEST_PROD_H_
+#define GTEST_INCLUDE_GTEST_GTEST_PROD_H_
+
+// When you need to test the private or protected members of a class,
+// use the FRIEND_TEST macro to declare your tests as friends of the
+// class. For example:
+//
+// class MyClass {
+// private:
+// void MyMethod();
+// FRIEND_TEST(MyClassTest, MyMethod);
+// };
+//
+// class MyClassTest : public testing::Test {
+// // ...
+// };
+//
+// TEST_F(MyClassTest, MyMethod) {
+// // Can call MyClass::MyMethod() here.
+// }
+
+#define FRIEND_TEST(test_case_name, test_name)\
+friend class test_case_name##_##test_name##_Test
+
+#endif // GTEST_INCLUDE_GTEST_GTEST_PROD_H_
+// Copyright 2008, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: mheule@google.com (Markus Heule)
+//
+
+#ifndef GTEST_INCLUDE_GTEST_GTEST_TEST_PART_H_
+#define GTEST_INCLUDE_GTEST_GTEST_TEST_PART_H_
+
+#include <iosfwd>
+#include <vector>
+
+namespace testing {
+
+// A copyable object representing the result of a test part (i.e. an
+// assertion or an explicit FAIL(), ADD_FAILURE(), or SUCCESS()).
+//
+// Don't inherit from TestPartResult as its destructor is not virtual.
+class GTEST_API_ TestPartResult {
+ public:
+ // The possible outcomes of a test part (i.e. an assertion or an
+ // explicit SUCCEED(), FAIL(), or ADD_FAILURE()).
+ enum Type {
+ kSuccess, // Succeeded.
+ kNonFatalFailure, // Failed but the test can continue.
+ kFatalFailure // Failed and the test should be terminated.
+ };
+
+ // C'tor. TestPartResult does NOT have a default constructor.
+ // Always use this constructor (with parameters) to create a
+ // TestPartResult object.
+ TestPartResult(Type a_type,
+ const char* a_file_name,
+ int a_line_number,
+ const char* a_message)
+ : type_(a_type),
+ file_name_(a_file_name),
+ line_number_(a_line_number),
+ summary_(ExtractSummary(a_message)),
+ message_(a_message) {
+ }
+
+ // Gets the outcome of the test part.
+ Type type() const { return type_; }
+
+ // Gets the name of the source file where the test part took place, or
+ // NULL if it's unknown.
+ const char* file_name() const { return file_name_.c_str(); }
+
+ // Gets the line in the source file where the test part took place,
+ // or -1 if it's unknown.
+ int line_number() const { return line_number_; }
+
+ // Gets the summary of the failure message.
+ const char* summary() const { return summary_.c_str(); }
+
+ // Gets the message associated with the test part.
+ const char* message() const { return message_.c_str(); }
+
+ // Returns true iff the test part passed.
+ bool passed() const { return type_ == kSuccess; }
+
+ // Returns true iff the test part failed.
+ bool failed() const { return type_ != kSuccess; }
+
+ // Returns true iff the test part non-fatally failed.
+ bool nonfatally_failed() const { return type_ == kNonFatalFailure; }
+
+ // Returns true iff the test part fatally failed.
+ bool fatally_failed() const { return type_ == kFatalFailure; }
+ private:
+ Type type_;
+
+ // Gets the summary of the failure message by omitting the stack
+ // trace in it.
+ static internal::String ExtractSummary(const char* message);
+
+ // The name of the source file where the test part took place, or
+ // NULL if the source file is unknown.
+ internal::String file_name_;
+ // The line in the source file where the test part took place, or -1
+ // if the line number is unknown.
+ int line_number_;
+ internal::String summary_; // The test failure summary.
+ internal::String message_; // The test failure message.
+};
+
+// Prints a TestPartResult object.
+std::ostream& operator<<(std::ostream& os, const TestPartResult& result);
+
+// An array of TestPartResult objects.
+//
+// Don't inherit from TestPartResultArray as its destructor is not
+// virtual.
+class GTEST_API_ TestPartResultArray {
+ public:
+ TestPartResultArray() {}
+
+ // Appends the given TestPartResult to the array.
+ void Append(const TestPartResult& result);
+
+ // Returns the TestPartResult at the given index (0-based).
+ const TestPartResult& GetTestPartResult(int index) const;
+
+ // Returns the number of TestPartResult objects in the array.
+ int size() const;
+
+ private:
+ std::vector<TestPartResult> array_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(TestPartResultArray);
+};
+
+// This interface knows how to report a test part result.
+class TestPartResultReporterInterface {
+ public:
+ virtual ~TestPartResultReporterInterface() {}
+
+ virtual void ReportTestPartResult(const TestPartResult& result) = 0;
+};
+
+namespace internal {
+
+// This helper class is used by {ASSERT|EXPECT}_NO_FATAL_FAILURE to check if a
+// statement generates new fatal failures. To do so it registers itself as the
+// current test part result reporter. Besides checking if fatal failures were
+// reported, it only delegates the reporting to the former result reporter.
+// The original result reporter is restored in the destructor.
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+class GTEST_API_ HasNewFatalFailureHelper
+ : public TestPartResultReporterInterface {
+ public:
+ HasNewFatalFailureHelper();
+ virtual ~HasNewFatalFailureHelper();
+ virtual void ReportTestPartResult(const TestPartResult& result);
+ bool has_new_fatal_failure() const { return has_new_fatal_failure_; }
+ private:
+ bool has_new_fatal_failure_;
+ TestPartResultReporterInterface* original_reporter_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(HasNewFatalFailureHelper);
+};
+
+} // namespace internal
+
+} // namespace testing
+
+#endif // GTEST_INCLUDE_GTEST_GTEST_TEST_PART_H_
+// Copyright 2008 Google Inc.
+// All Rights Reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: wan@google.com (Zhanyong Wan)
+
+#ifndef GTEST_INCLUDE_GTEST_GTEST_TYPED_TEST_H_
+#define GTEST_INCLUDE_GTEST_GTEST_TYPED_TEST_H_
+
+// This header implements typed tests and type-parameterized tests.
+
+// Typed (aka type-driven) tests repeat the same test for types in a
+// list. You must know which types you want to test with when writing
+// typed tests. Here's how you do it:
+
+#if 0
+
+// First, define a fixture class template. It should be parameterized
+// by a type. Remember to derive it from testing::Test.
+template <typename T>
+class FooTest : public testing::Test {
+ public:
+ ...
+ typedef std::list<T> List;
+ static T shared_;
+ T value_;
+};
+
+// Next, associate a list of types with the test case, which will be
+// repeated for each type in the list. The typedef is necessary for
+// the macro to parse correctly.
+typedef testing::Types<char, int, unsigned int> MyTypes;
+TYPED_TEST_CASE(FooTest, MyTypes);
+
+// If the type list contains only one type, you can write that type
+// directly without Types<...>:
+// TYPED_TEST_CASE(FooTest, int);
+
+// Then, use TYPED_TEST() instead of TEST_F() to define as many typed
+// tests for this test case as you want.
+TYPED_TEST(FooTest, DoesBlah) {
+ // Inside a test, refer to TypeParam to get the type parameter.
+ // Since we are inside a derived class template, C++ requires use to
+ // visit the members of FooTest via 'this'.
+ TypeParam n = this->value_;
+
+ // To visit static members of the fixture, add the TestFixture::
+ // prefix.
+ n += TestFixture::shared_;
+
+ // To refer to typedefs in the fixture, add the "typename
+ // TestFixture::" prefix.
+ typename TestFixture::List values;
+ values.push_back(n);
+ ...
+}
+
+TYPED_TEST(FooTest, HasPropertyA) { ... }
+
+#endif // 0
+
+// Type-parameterized tests are abstract test patterns parameterized
+// by a type. Compared with typed tests, type-parameterized tests
+// allow you to define the test pattern without knowing what the type
+// parameters are. The defined pattern can be instantiated with
+// different types any number of times, in any number of translation
+// units.
+//
+// If you are designing an interface or concept, you can define a
+// suite of type-parameterized tests to verify properties that any
+// valid implementation of the interface/concept should have. Then,
+// each implementation can easily instantiate the test suite to verify
+// that it conforms to the requirements, without having to write
+// similar tests repeatedly. Here's an example:
+
+#if 0
+
+// First, define a fixture class template. It should be parameterized
+// by a type. Remember to derive it from testing::Test.
+template <typename T>
+class FooTest : public testing::Test {
+ ...
+};
+
+// Next, declare that you will define a type-parameterized test case
+// (the _P suffix is for "parameterized" or "pattern", whichever you
+// prefer):
+TYPED_TEST_CASE_P(FooTest);
+
+// Then, use TYPED_TEST_P() to define as many type-parameterized tests
+// for this type-parameterized test case as you want.
+TYPED_TEST_P(FooTest, DoesBlah) {
+ // Inside a test, refer to TypeParam to get the type parameter.
+ TypeParam n = 0;
+ ...
+}
+
+TYPED_TEST_P(FooTest, HasPropertyA) { ... }
+
+// Now the tricky part: you need to register all test patterns before
+// you can instantiate them. The first argument of the macro is the
+// test case name; the rest are the names of the tests in this test
+// case.
+REGISTER_TYPED_TEST_CASE_P(FooTest,
+ DoesBlah, HasPropertyA);
+
+// Finally, you are free to instantiate the pattern with the types you
+// want. If you put the above code in a header file, you can #include
+// it in multiple C++ source files and instantiate it multiple times.
+//
+// To distinguish different instances of the pattern, the first
+// argument to the INSTANTIATE_* macro is a prefix that will be added
+// to the actual test case name. Remember to pick unique prefixes for
+// different instances.
+typedef testing::Types<char, int, unsigned int> MyTypes;
+INSTANTIATE_TYPED_TEST_CASE_P(My, FooTest, MyTypes);
+
+// If the type list contains only one type, you can write that type
+// directly without Types<...>:
+// INSTANTIATE_TYPED_TEST_CASE_P(My, FooTest, int);
+
+#endif // 0
+
+
+// Implements typed tests.
+
+#if GTEST_HAS_TYPED_TEST
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// Expands to the name of the typedef for the type parameters of the
+// given test case.
+# define GTEST_TYPE_PARAMS_(TestCaseName) gtest_type_params_##TestCaseName##_
+
+// The 'Types' template argument below must have spaces around it
+// since some compilers may choke on '>>' when passing a template
+// instance (e.g. Types<int>)
+# define TYPED_TEST_CASE(CaseName, Types) \
+ typedef ::testing::internal::TypeList< Types >::type \
+ GTEST_TYPE_PARAMS_(CaseName)
+
+# define TYPED_TEST(CaseName, TestName) \
+ template <typename gtest_TypeParam_> \
+ class GTEST_TEST_CLASS_NAME_(CaseName, TestName) \
+ : public CaseName<gtest_TypeParam_> { \
+ private: \
+ typedef CaseName<gtest_TypeParam_> TestFixture; \
+ typedef gtest_TypeParam_ TypeParam; \
+ virtual void TestBody(); \
+ }; \
+ bool gtest_##CaseName##_##TestName##_registered_ GTEST_ATTRIBUTE_UNUSED_ = \
+ ::testing::internal::TypeParameterizedTest< \
+ CaseName, \
+ ::testing::internal::TemplateSel< \
+ GTEST_TEST_CLASS_NAME_(CaseName, TestName)>, \
+ GTEST_TYPE_PARAMS_(CaseName)>::Register(\
+ "", #CaseName, #TestName, 0); \
+ template <typename gtest_TypeParam_> \
+ void GTEST_TEST_CLASS_NAME_(CaseName, TestName)<gtest_TypeParam_>::TestBody()
+
+#endif // GTEST_HAS_TYPED_TEST
+
+// Implements type-parameterized tests.
+
+#if GTEST_HAS_TYPED_TEST_P
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// Expands to the namespace name that the type-parameterized tests for
+// the given type-parameterized test case are defined in. The exact
+// name of the namespace is subject to change without notice.
+# define GTEST_CASE_NAMESPACE_(TestCaseName) \
+ gtest_case_##TestCaseName##_
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+//
+// Expands to the name of the variable used to remember the names of
+// the defined tests in the given test case.
+# define GTEST_TYPED_TEST_CASE_P_STATE_(TestCaseName) \
+ gtest_typed_test_case_p_state_##TestCaseName##_
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE DIRECTLY.
+//
+// Expands to the name of the variable used to remember the names of
+// the registered tests in the given test case.
+# define GTEST_REGISTERED_TEST_NAMES_(TestCaseName) \
+ gtest_registered_test_names_##TestCaseName##_
+
+// The variables defined in the type-parameterized test macros are
+// static as typically these macros are used in a .h file that can be
+// #included in multiple translation units linked together.
+# define TYPED_TEST_CASE_P(CaseName) \
+ static ::testing::internal::TypedTestCasePState \
+ GTEST_TYPED_TEST_CASE_P_STATE_(CaseName)
+
+# define TYPED_TEST_P(CaseName, TestName) \
+ namespace GTEST_CASE_NAMESPACE_(CaseName) { \
+ template <typename gtest_TypeParam_> \
+ class TestName : public CaseName<gtest_TypeParam_> { \
+ private: \
+ typedef CaseName<gtest_TypeParam_> TestFixture; \
+ typedef gtest_TypeParam_ TypeParam; \
+ virtual void TestBody(); \
+ }; \
+ static bool gtest_##TestName##_defined_ GTEST_ATTRIBUTE_UNUSED_ = \
+ GTEST_TYPED_TEST_CASE_P_STATE_(CaseName).AddTestName(\
+ __FILE__, __LINE__, #CaseName, #TestName); \
+ } \
+ template <typename gtest_TypeParam_> \
+ void GTEST_CASE_NAMESPACE_(CaseName)::TestName<gtest_TypeParam_>::TestBody()
+
+# define REGISTER_TYPED_TEST_CASE_P(CaseName, ...) \
+ namespace GTEST_CASE_NAMESPACE_(CaseName) { \
+ typedef ::testing::internal::Templates<__VA_ARGS__>::type gtest_AllTests_; \
+ } \
+ static const char* const GTEST_REGISTERED_TEST_NAMES_(CaseName) = \
+ GTEST_TYPED_TEST_CASE_P_STATE_(CaseName).VerifyRegisteredTestNames(\
+ __FILE__, __LINE__, #__VA_ARGS__)
+
+// The 'Types' template argument below must have spaces around it
+// since some compilers may choke on '>>' when passing a template
+// instance (e.g. Types<int>)
+# define INSTANTIATE_TYPED_TEST_CASE_P(Prefix, CaseName, Types) \
+ bool gtest_##Prefix##_##CaseName GTEST_ATTRIBUTE_UNUSED_ = \
+ ::testing::internal::TypeParameterizedTestCase<CaseName, \
+ GTEST_CASE_NAMESPACE_(CaseName)::gtest_AllTests_, \
+ ::testing::internal::TypeList< Types >::type>::Register(\
+ #Prefix, #CaseName, GTEST_REGISTERED_TEST_NAMES_(CaseName))
+
+#endif // GTEST_HAS_TYPED_TEST_P
+
+#endif // GTEST_INCLUDE_GTEST_GTEST_TYPED_TEST_H_
+
+// Depending on the platform, different string classes are available.
+// On Linux, in addition to ::std::string, Google also makes use of
+// class ::string, which has the same interface as ::std::string, but
+// has a different implementation.
+//
+// The user can define GTEST_HAS_GLOBAL_STRING to 1 to indicate that
+// ::string is available AND is a distinct type to ::std::string, or
+// define it to 0 to indicate otherwise.
+//
+// If the user's ::std::string and ::string are the same class due to
+// aliasing, he should define GTEST_HAS_GLOBAL_STRING to 0.
+//
+// If the user doesn't define GTEST_HAS_GLOBAL_STRING, it is defined
+// heuristically.
+
+namespace testing {
+
+// Declares the flags.
+
+// This flag temporary enables the disabled tests.
+GTEST_DECLARE_bool_(also_run_disabled_tests);
+
+// This flag brings the debugger on an assertion failure.
+GTEST_DECLARE_bool_(break_on_failure);
+
+// This flag controls whether Google Test catches all test-thrown exceptions
+// and logs them as failures.
+GTEST_DECLARE_bool_(catch_exceptions);
+
+// This flag enables using colors in terminal output. Available values are
+// "yes" to enable colors, "no" (disable colors), or "auto" (the default)
+// to let Google Test decide.
+GTEST_DECLARE_string_(color);
+
+// This flag sets up the filter to select by name using a glob pattern
+// the tests to run. If the filter is not given all tests are executed.
+GTEST_DECLARE_string_(filter);
+
+// This flag causes the Google Test to list tests. None of the tests listed
+// are actually run if the flag is provided.
+GTEST_DECLARE_bool_(list_tests);
+
+// This flag controls whether Google Test emits a detailed XML report to a file
+// in addition to its normal textual output.
+GTEST_DECLARE_string_(output);
+
+// This flags control whether Google Test prints the elapsed time for each
+// test.
+GTEST_DECLARE_bool_(print_time);
+
+// This flag specifies the random number seed.
+GTEST_DECLARE_int32_(random_seed);
+
+// This flag sets how many times the tests are repeated. The default value
+// is 1. If the value is -1 the tests are repeating forever.
+GTEST_DECLARE_int32_(repeat);
+
+// This flag controls whether Google Test includes Google Test internal
+// stack frames in failure stack traces.
+GTEST_DECLARE_bool_(show_internal_stack_frames);
+
+// When this flag is specified, tests' order is randomized on every iteration.
+GTEST_DECLARE_bool_(shuffle);
+
+// This flag specifies the maximum number of stack frames to be
+// printed in a failure message.
+GTEST_DECLARE_int32_(stack_trace_depth);
+
+// When this flag is specified, a failed assertion will throw an
+// exception if exceptions are enabled, or exit the program with a
+// non-zero code otherwise.
+GTEST_DECLARE_bool_(throw_on_failure);
+
+// When this flag is set with a "host:port" string, on supported
+// platforms test results are streamed to the specified port on
+// the specified host machine.
+GTEST_DECLARE_string_(stream_result_to);
+
+// The upper limit for valid stack trace depths.
+const int kMaxStackTraceDepth = 100;
+
+namespace internal {
+
+class AssertHelper;
+class DefaultGlobalTestPartResultReporter;
+class ExecDeathTest;
+class NoExecDeathTest;
+class FinalSuccessChecker;
+class GTestFlagSaver;
+class TestResultAccessor;
+class TestEventListenersAccessor;
+class TestEventRepeater;
+class WindowsDeathTest;
+class UnitTestImpl* GetUnitTestImpl();
+void ReportFailureInUnknownLocation(TestPartResult::Type result_type,
+ const String& message);
+
+// Converts a streamable value to a String. A NULL pointer is
+// converted to "(null)". When the input value is a ::string,
+// ::std::string, ::wstring, or ::std::wstring object, each NUL
+// character in it is replaced with "\\0".
+// Declared in gtest-internal.h but defined here, so that it has access
+// to the definition of the Message class, required by the ARM
+// compiler.
+template <typename T>
+String StreamableToString(const T& streamable) {
+ return (Message() << streamable).GetString();
+}
+
+} // namespace internal
+
+// The friend relationship of some of these classes is cyclic.
+// If we don't forward declare them the compiler might confuse the classes
+// in friendship clauses with same named classes on the scope.
+class Test;
+class TestCase;
+class TestInfo;
+class UnitTest;
+
+// A class for indicating whether an assertion was successful. When
+// the assertion wasn't successful, the AssertionResult object
+// remembers a non-empty message that describes how it failed.
+//
+// To create an instance of this class, use one of the factory functions
+// (AssertionSuccess() and AssertionFailure()).
+//
+// This class is useful for two purposes:
+// 1. Defining predicate functions to be used with Boolean test assertions
+// EXPECT_TRUE/EXPECT_FALSE and their ASSERT_ counterparts
+// 2. Defining predicate-format functions to be
+// used with predicate assertions (ASSERT_PRED_FORMAT*, etc).
+//
+// For example, if you define IsEven predicate:
+//
+// testing::AssertionResult IsEven(int n) {
+// if ((n % 2) == 0)
+// return testing::AssertionSuccess();
+// else
+// return testing::AssertionFailure() << n << " is odd";
+// }
+//
+// Then the failed expectation EXPECT_TRUE(IsEven(Fib(5)))
+// will print the message
+//
+// Value of: IsEven(Fib(5))
+// Actual: false (5 is odd)
+// Expected: true
+//
+// instead of a more opaque
+//
+// Value of: IsEven(Fib(5))
+// Actual: false
+// Expected: true
+//
+// in case IsEven is a simple Boolean predicate.
+//
+// If you expect your predicate to be reused and want to support informative
+// messages in EXPECT_FALSE and ASSERT_FALSE (negative assertions show up
+// about half as often as positive ones in our tests), supply messages for
+// both success and failure cases:
+//
+// testing::AssertionResult IsEven(int n) {
+// if ((n % 2) == 0)
+// return testing::AssertionSuccess() << n << " is even";
+// else
+// return testing::AssertionFailure() << n << " is odd";
+// }
+//
+// Then a statement EXPECT_FALSE(IsEven(Fib(6))) will print
+//
+// Value of: IsEven(Fib(6))
+// Actual: true (8 is even)
+// Expected: false
+//
+// NB: Predicates that support negative Boolean assertions have reduced
+// performance in positive ones so be careful not to use them in tests
+// that have lots (tens of thousands) of positive Boolean assertions.
+//
+// To use this class with EXPECT_PRED_FORMAT assertions such as:
+//
+// // Verifies that Foo() returns an even number.
+// EXPECT_PRED_FORMAT1(IsEven, Foo());
+//
+// you need to define:
+//
+// testing::AssertionResult IsEven(const char* expr, int n) {
+// if ((n % 2) == 0)
+// return testing::AssertionSuccess();
+// else
+// return testing::AssertionFailure()
+// << "Expected: " << expr << " is even\n Actual: it's " << n;
+// }
+//
+// If Foo() returns 5, you will see the following message:
+//
+// Expected: Foo() is even
+// Actual: it's 5
+//
+class GTEST_API_ AssertionResult {
+ public:
+ // Copy constructor.
+ // Used in EXPECT_TRUE/FALSE(assertion_result).
+ AssertionResult(const AssertionResult& other);
+ // Used in the EXPECT_TRUE/FALSE(bool_expression).
+ explicit AssertionResult(bool success) : success_(success) {}
+
+ // Returns true iff the assertion succeeded.
+ operator bool() const { return success_; } // NOLINT
+
+ // Returns the assertion's negation. Used with EXPECT/ASSERT_FALSE.
+ AssertionResult operator!() const;
+
+ // Returns the text streamed into this AssertionResult. Test assertions
+ // use it when they fail (i.e., the predicate's outcome doesn't match the
+ // assertion's expectation). When nothing has been streamed into the
+ // object, returns an empty string.
+ const char* message() const {
+ return message_.get() != NULL ? message_->c_str() : "";
+ }
+ // TODO(vladl@google.com): Remove this after making sure no clients use it.
+ // Deprecated; please use message() instead.
+ const char* failure_message() const { return message(); }
+
+ // Streams a custom failure message into this object.
+ template <typename T> AssertionResult& operator<<(const T& value) {
+ AppendMessage(Message() << value);
+ return *this;
+ }
+
+ // Allows streaming basic output manipulators such as endl or flush into
+ // this object.
+ AssertionResult& operator<<(
+ ::std::ostream& (*basic_manipulator)(::std::ostream& stream)) {
+ AppendMessage(Message() << basic_manipulator);
+ return *this;
+ }
+
+ private:
+ // Appends the contents of message to message_.
+ void AppendMessage(const Message& a_message) {
+ if (message_.get() == NULL)
+ message_.reset(new ::std::string);
+ message_->append(a_message.GetString().c_str());
+ }
+
+ // Stores result of the assertion predicate.
+ bool success_;
+ // Stores the message describing the condition in case the expectation
+ // construct is not satisfied with the predicate's outcome.
+ // Referenced via a pointer to avoid taking too much stack frame space
+ // with test assertions.
+ internal::scoped_ptr< ::std::string> message_;
+
+ GTEST_DISALLOW_ASSIGN_(AssertionResult);
+};
+
+// Makes a successful assertion result.
+GTEST_API_ AssertionResult AssertionSuccess();
+
+// Makes a failed assertion result.
+GTEST_API_ AssertionResult AssertionFailure();
+
+// Makes a failed assertion result with the given failure message.
+// Deprecated; use AssertionFailure() << msg.
+GTEST_API_ AssertionResult AssertionFailure(const Message& msg);
+
+// The abstract class that all tests inherit from.
+//
+// In Google Test, a unit test program contains one or many TestCases, and
+// each TestCase contains one or many Tests.
+//
+// When you define a test using the TEST macro, you don't need to
+// explicitly derive from Test - the TEST macro automatically does
+// this for you.
+//
+// The only time you derive from Test is when defining a test fixture
+// to be used a TEST_F. For example:
+//
+// class FooTest : public testing::Test {
+// protected:
+// virtual void SetUp() { ... }
+// virtual void TearDown() { ... }
+// ...
+// };
+//
+// TEST_F(FooTest, Bar) { ... }
+// TEST_F(FooTest, Baz) { ... }
+//
+// Test is not copyable.
+class GTEST_API_ Test {
+ public:
+ friend class TestInfo;
+
+ // Defines types for pointers to functions that set up and tear down
+ // a test case.
+ typedef internal::SetUpTestCaseFunc SetUpTestCaseFunc;
+ typedef internal::TearDownTestCaseFunc TearDownTestCaseFunc;
+
+ // The d'tor is virtual as we intend to inherit from Test.
+ virtual ~Test();
+
+ // Sets up the stuff shared by all tests in this test case.
+ //
+ // Google Test will call Foo::SetUpTestCase() before running the first
+ // test in test case Foo. Hence a sub-class can define its own
+ // SetUpTestCase() method to shadow the one defined in the super
+ // class.
+ static void SetUpTestCase() {}
+
+ // Tears down the stuff shared by all tests in this test case.
+ //
+ // Google Test will call Foo::TearDownTestCase() after running the last
+ // test in test case Foo. Hence a sub-class can define its own
+ // TearDownTestCase() method to shadow the one defined in the super
+ // class.
+ static void TearDownTestCase() {}
+
+ // Returns true iff the current test has a fatal failure.
+ static bool HasFatalFailure();
+
+ // Returns true iff the current test has a non-fatal failure.
+ static bool HasNonfatalFailure();
+
+ // Returns true iff the current test has a (either fatal or
+ // non-fatal) failure.
+ static bool HasFailure() { return HasFatalFailure() || HasNonfatalFailure(); }
+
+ // Logs a property for the current test. Only the last value for a given
+ // key is remembered.
+ // These are public static so they can be called from utility functions
+ // that are not members of the test fixture.
+ // The arguments are const char* instead strings, as Google Test is used
+ // on platforms where string doesn't compile.
+ //
+ // Note that a driving consideration for these RecordProperty methods
+ // was to produce xml output suited to the Greenspan charting utility,
+ // which at present will only chart values that fit in a 32-bit int. It
+ // is the user's responsibility to restrict their values to 32-bit ints
+ // if they intend them to be used with Greenspan.
+ static void RecordProperty(const char* key, const char* value);
+ static void RecordProperty(const char* key, int value);
+
+ protected:
+ // Creates a Test object.
+ Test();
+
+ // Sets up the test fixture.
+ virtual void SetUp();
+
+ // Tears down the test fixture.
+ virtual void TearDown();
+
+ private:
+ // Returns true iff the current test has the same fixture class as
+ // the first test in the current test case.
+ static bool HasSameFixtureClass();
+
+ // Runs the test after the test fixture has been set up.
+ //
+ // A sub-class must implement this to define the test logic.
+ //
+ // DO NOT OVERRIDE THIS FUNCTION DIRECTLY IN A USER PROGRAM.
+ // Instead, use the TEST or TEST_F macro.
+ virtual void TestBody() = 0;
+
+ // Sets up, executes, and tears down the test.
+ void Run();
+
+ // Deletes self. We deliberately pick an unusual name for this
+ // internal method to avoid clashing with names used in user TESTs.
+ void DeleteSelf_() { delete this; }
+
+ // Uses a GTestFlagSaver to save and restore all Google Test flags.
+ const internal::GTestFlagSaver* const gtest_flag_saver_;
+
+ // Often a user mis-spells SetUp() as Setup() and spends a long time
+ // wondering why it is never called by Google Test. The declaration of
+ // the following method is solely for catching such an error at
+ // compile time:
+ //
+ // - The return type is deliberately chosen to be not void, so it
+ // will be a conflict if a user declares void Setup() in his test
+ // fixture.
+ //
+ // - This method is private, so it will be another compiler error
+ // if a user calls it from his test fixture.
+ //
+ // DO NOT OVERRIDE THIS FUNCTION.
+ //
+ // If you see an error about overriding the following function or
+ // about it being private, you have mis-spelled SetUp() as Setup().
+ struct Setup_should_be_spelled_SetUp {};
+ virtual Setup_should_be_spelled_SetUp* Setup() { return NULL; }
+
+ // We disallow copying Tests.
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(Test);
+};
+
+typedef internal::TimeInMillis TimeInMillis;
+
+// A copyable object representing a user specified test property which can be
+// output as a key/value string pair.
+//
+// Don't inherit from TestProperty as its destructor is not virtual.
+class TestProperty {
+ public:
+ // C'tor. TestProperty does NOT have a default constructor.
+ // Always use this constructor (with parameters) to create a
+ // TestProperty object.
+ TestProperty(const char* a_key, const char* a_value) :
+ key_(a_key), value_(a_value) {
+ }
+
+ // Gets the user supplied key.
+ const char* key() const {
+ return key_.c_str();
+ }
+
+ // Gets the user supplied value.
+ const char* value() const {
+ return value_.c_str();
+ }
+
+ // Sets a new value, overriding the one supplied in the constructor.
+ void SetValue(const char* new_value) {
+ value_ = new_value;
+ }
+
+ private:
+ // The key supplied by the user.
+ internal::String key_;
+ // The value supplied by the user.
+ internal::String value_;
+};
+
+// The result of a single Test. This includes a list of
+// TestPartResults, a list of TestProperties, a count of how many
+// death tests there are in the Test, and how much time it took to run
+// the Test.
+//
+// TestResult is not copyable.
+class GTEST_API_ TestResult {
+ public:
+ // Creates an empty TestResult.
+ TestResult();
+
+ // D'tor. Do not inherit from TestResult.
+ ~TestResult();
+
+ // Gets the number of all test parts. This is the sum of the number
+ // of successful test parts and the number of failed test parts.
+ int total_part_count() const;
+
+ // Returns the number of the test properties.
+ int test_property_count() const;
+
+ // Returns true iff the test passed (i.e. no test part failed).
+ bool Passed() const { return !Failed(); }
+
+ // Returns true iff the test failed.
+ bool Failed() const;
+
+ // Returns true iff the test fatally failed.
+ bool HasFatalFailure() const;
+
+ // Returns true iff the test has a non-fatal failure.
+ bool HasNonfatalFailure() const;
+
+ // Returns the elapsed time, in milliseconds.
+ TimeInMillis elapsed_time() const { return elapsed_time_; }
+
+ // Returns the i-th test part result among all the results. i can range
+ // from 0 to test_property_count() - 1. If i is not in that range, aborts
+ // the program.
+ const TestPartResult& GetTestPartResult(int i) const;
+
+ // Returns the i-th test property. i can range from 0 to
+ // test_property_count() - 1. If i is not in that range, aborts the
+ // program.
+ const TestProperty& GetTestProperty(int i) const;
+
+ private:
+ friend class TestInfo;
+ friend class UnitTest;
+ friend class internal::DefaultGlobalTestPartResultReporter;
+ friend class internal::ExecDeathTest;
+ friend class internal::TestResultAccessor;
+ friend class internal::UnitTestImpl;
+ friend class internal::WindowsDeathTest;
+
+ // Gets the vector of TestPartResults.
+ const std::vector<TestPartResult>& test_part_results() const {
+ return test_part_results_;
+ }
+
+ // Gets the vector of TestProperties.
+ const std::vector<TestProperty>& test_properties() const {
+ return test_properties_;
+ }
+
+ // Sets the elapsed time.
+ void set_elapsed_time(TimeInMillis elapsed) { elapsed_time_ = elapsed; }
+
+ // Adds a test property to the list. The property is validated and may add
+ // a non-fatal failure if invalid (e.g., if it conflicts with reserved
+ // key names). If a property is already recorded for the same key, the
+ // value will be updated, rather than storing multiple values for the same
+ // key.
+ void RecordProperty(const TestProperty& test_property);
+
+ // Adds a failure if the key is a reserved attribute of Google Test
+ // testcase tags. Returns true if the property is valid.
+ // TODO(russr): Validate attribute names are legal and human readable.
+ static bool ValidateTestProperty(const TestProperty& test_property);
+
+ // Adds a test part result to the list.
+ void AddTestPartResult(const TestPartResult& test_part_result);
+
+ // Returns the death test count.
+ int death_test_count() const { return death_test_count_; }
+
+ // Increments the death test count, returning the new count.
+ int increment_death_test_count() { return ++death_test_count_; }
+
+ // Clears the test part results.
+ void ClearTestPartResults();
+
+ // Clears the object.
+ void Clear();
+
+ // Protects mutable state of the property vector and of owned
+ // properties, whose values may be updated.
+ internal::Mutex test_properites_mutex_;
+
+ // The vector of TestPartResults
+ std::vector<TestPartResult> test_part_results_;
+ // The vector of TestProperties
+ std::vector<TestProperty> test_properties_;
+ // Running count of death tests.
+ int death_test_count_;
+ // The elapsed time, in milliseconds.
+ TimeInMillis elapsed_time_;
+
+ // We disallow copying TestResult.
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(TestResult);
+}; // class TestResult
+
+// A TestInfo object stores the following information about a test:
+//
+// Test case name
+// Test name
+// Whether the test should be run
+// A function pointer that creates the test object when invoked
+// Test result
+//
+// The constructor of TestInfo registers itself with the UnitTest
+// singleton such that the RUN_ALL_TESTS() macro knows which tests to
+// run.
+class GTEST_API_ TestInfo {
+ public:
+ // Destructs a TestInfo object. This function is not virtual, so
+ // don't inherit from TestInfo.
+ ~TestInfo();
+
+ // Returns the test case name.
+ const char* test_case_name() const { return test_case_name_.c_str(); }
+
+ // Returns the test name.
+ const char* name() const { return name_.c_str(); }
+
+ // Returns the name of the parameter type, or NULL if this is not a typed
+ // or a type-parameterized test.
+ const char* type_param() const {
+ if (type_param_.get() != NULL)
+ return type_param_->c_str();
+ return NULL;
+ }
+
+ // Returns the text representation of the value parameter, or NULL if this
+ // is not a value-parameterized test.
+ const char* value_param() const {
+ if (value_param_.get() != NULL)
+ return value_param_->c_str();
+ return NULL;
+ }
+
+ // Returns true if this test should run, that is if the test is not disabled
+ // (or it is disabled but the also_run_disabled_tests flag has been specified)
+ // and its full name matches the user-specified filter.
+ //
+ // Google Test allows the user to filter the tests by their full names.
+ // The full name of a test Bar in test case Foo is defined as
+ // "Foo.Bar". Only the tests that match the filter will run.
+ //
+ // A filter is a colon-separated list of glob (not regex) patterns,
+ // optionally followed by a '-' and a colon-separated list of
+ // negative patterns (tests to exclude). A test is run if it
+ // matches one of the positive patterns and does not match any of
+ // the negative patterns.
+ //
+ // For example, *A*:Foo.* is a filter that matches any string that
+ // contains the character 'A' or starts with "Foo.".
+ bool should_run() const { return should_run_; }
+
+ // Returns the result of the test.
+ const TestResult* result() const { return &result_; }
+
+ private:
+
+#if GTEST_HAS_DEATH_TEST
+ friend class internal::DefaultDeathTestFactory;
+#endif // GTEST_HAS_DEATH_TEST
+ friend class Test;
+ friend class TestCase;
+ friend class internal::UnitTestImpl;
+ friend TestInfo* internal::MakeAndRegisterTestInfo(
+ const char* test_case_name, const char* name,
+ const char* type_param,
+ const char* value_param,
+ internal::TypeId fixture_class_id,
+ Test::SetUpTestCaseFunc set_up_tc,
+ Test::TearDownTestCaseFunc tear_down_tc,
+ internal::TestFactoryBase* factory);
+
+ // Constructs a TestInfo object. The newly constructed instance assumes
+ // ownership of the factory object.
+ TestInfo(const char* test_case_name, const char* name,
+ const char* a_type_param,
+ const char* a_value_param,
+ internal::TypeId fixture_class_id,
+ internal::TestFactoryBase* factory);
+
+ // Increments the number of death tests encountered in this test so
+ // far.
+ int increment_death_test_count() {
+ return result_.increment_death_test_count();
+ }
+
+ // Creates the test object, runs it, records its result, and then
+ // deletes it.
+ void Run();
+
+ static void ClearTestResult(TestInfo* test_info) {
+ test_info->result_.Clear();
+ }
+
+ // These fields are immutable properties of the test.
+ const std::string test_case_name_; // Test case name
+ const std::string name_; // Test name
+ // Name of the parameter type, or NULL if this is not a typed or a
+ // type-parameterized test.
+ const internal::scoped_ptr<const ::std::string> type_param_;
+ // Text representation of the value parameter, or NULL if this is not a
+ // value-parameterized test.
+ const internal::scoped_ptr<const ::std::string> value_param_;
+ const internal::TypeId fixture_class_id_; // ID of the test fixture class
+ bool should_run_; // True iff this test should run
+ bool is_disabled_; // True iff this test is disabled
+ bool matches_filter_; // True if this test matches the
+ // user-specified filter.
+ internal::TestFactoryBase* const factory_; // The factory that creates
+ // the test object
+
+ // This field is mutable and needs to be reset before running the
+ // test for the second time.
+ TestResult result_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(TestInfo);
+};
+
+// A test case, which consists of a vector of TestInfos.
+//
+// TestCase is not copyable.
+class GTEST_API_ TestCase {
+ public:
+ // Creates a TestCase with the given name.
+ //
+ // TestCase does NOT have a default constructor. Always use this
+ // constructor to create a TestCase object.
+ //
+ // Arguments:
+ //
+ // name: name of the test case
+ // a_type_param: the name of the test's type parameter, or NULL if
+ // this is not a type-parameterized test.
+ // set_up_tc: pointer to the function that sets up the test case
+ // tear_down_tc: pointer to the function that tears down the test case
+ TestCase(const char* name, const char* a_type_param,
+ Test::SetUpTestCaseFunc set_up_tc,
+ Test::TearDownTestCaseFunc tear_down_tc);
+
+ // Destructor of TestCase.
+ virtual ~TestCase();
+
+ // Gets the name of the TestCase.
+ const char* name() const { return name_.c_str(); }
+
+ // Returns the name of the parameter type, or NULL if this is not a
+ // type-parameterized test case.
+ const char* type_param() const {
+ if (type_param_.get() != NULL)
+ return type_param_->c_str();
+ return NULL;
+ }
+
+ // Returns true if any test in this test case should run.
+ bool should_run() const { return should_run_; }
+
+ // Gets the number of successful tests in this test case.
+ int successful_test_count() const;
+
+ // Gets the number of failed tests in this test case.
+ int failed_test_count() const;
+
+ // Gets the number of disabled tests in this test case.
+ int disabled_test_count() const;
+
+ // Get the number of tests in this test case that should run.
+ int test_to_run_count() const;
+
+ // Gets the number of all tests in this test case.
+ int total_test_count() const;
+
+ // Returns true iff the test case passed.
+ bool Passed() const { return !Failed(); }
+
+ // Returns true iff the test case failed.
+ bool Failed() const { return failed_test_count() > 0; }
+
+ // Returns the elapsed time, in milliseconds.
+ TimeInMillis elapsed_time() const { return elapsed_time_; }
+
+ // Returns the i-th test among all the tests. i can range from 0 to
+ // total_test_count() - 1. If i is not in that range, returns NULL.
+ const TestInfo* GetTestInfo(int i) const;
+
+ private:
+ friend class Test;
+ friend class internal::UnitTestImpl;
+
+ // Gets the (mutable) vector of TestInfos in this TestCase.
+ std::vector<TestInfo*>& test_info_list() { return test_info_list_; }
+
+ // Gets the (immutable) vector of TestInfos in this TestCase.
+ const std::vector<TestInfo*>& test_info_list() const {
+ return test_info_list_;
+ }
+
+ // Returns the i-th test among all the tests. i can range from 0 to
+ // total_test_count() - 1. If i is not in that range, returns NULL.
+ TestInfo* GetMutableTestInfo(int i);
+
+ // Sets the should_run member.
+ void set_should_run(bool should) { should_run_ = should; }
+
+ // Adds a TestInfo to this test case. Will delete the TestInfo upon
+ // destruction of the TestCase object.
+ void AddTestInfo(TestInfo * test_info);
+
+ // Clears the results of all tests in this test case.
+ void ClearResult();
+
+ // Clears the results of all tests in the given test case.
+ static void ClearTestCaseResult(TestCase* test_case) {
+ test_case->ClearResult();
+ }
+
+ // Runs every test in this TestCase.
+ void Run();
+
+ // Runs SetUpTestCase() for this TestCase. This wrapper is needed
+ // for catching exceptions thrown from SetUpTestCase().
+ void RunSetUpTestCase() { (*set_up_tc_)(); }
+
+ // Runs TearDownTestCase() for this TestCase. This wrapper is
+ // needed for catching exceptions thrown from TearDownTestCase().
+ void RunTearDownTestCase() { (*tear_down_tc_)(); }
+
+ // Returns true iff test passed.
+ static bool TestPassed(const TestInfo* test_info) {
+ return test_info->should_run() && test_info->result()->Passed();
+ }
+
+ // Returns true iff test failed.
+ static bool TestFailed(const TestInfo* test_info) {
+ return test_info->should_run() && test_info->result()->Failed();
+ }
+
+ // Returns true iff test is disabled.
+ static bool TestDisabled(const TestInfo* test_info) {
+ return test_info->is_disabled_;
+ }
+
+ // Returns true if the given test should run.
+ static bool ShouldRunTest(const TestInfo* test_info) {
+ return test_info->should_run();
+ }
+
+ // Shuffles the tests in this test case.
+ void ShuffleTests(internal::Random* random);
+
+ // Restores the test order to before the first shuffle.
+ void UnshuffleTests();
+
+ // Name of the test case.
+ internal::String name_;
+ // Name of the parameter type, or NULL if this is not a typed or a
+ // type-parameterized test.
+ const internal::scoped_ptr<const ::std::string> type_param_;
+ // The vector of TestInfos in their original order. It owns the
+ // elements in the vector.
+ std::vector<TestInfo*> test_info_list_;
+ // Provides a level of indirection for the test list to allow easy
+ // shuffling and restoring the test order. The i-th element in this
+ // vector is the index of the i-th test in the shuffled test list.
+ std::vector<int> test_indices_;
+ // Pointer to the function that sets up the test case.
+ Test::SetUpTestCaseFunc set_up_tc_;
+ // Pointer to the function that tears down the test case.
+ Test::TearDownTestCaseFunc tear_down_tc_;
+ // True iff any test in this test case should run.
+ bool should_run_;
+ // Elapsed time, in milliseconds.
+ TimeInMillis elapsed_time_;
+
+ // We disallow copying TestCases.
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(TestCase);
+};
+
+// An Environment object is capable of setting up and tearing down an
+// environment. The user should subclass this to define his own
+// environment(s).
+//
+// An Environment object does the set-up and tear-down in virtual
+// methods SetUp() and TearDown() instead of the constructor and the
+// destructor, as:
+//
+// 1. You cannot safely throw from a destructor. This is a problem
+// as in some cases Google Test is used where exceptions are enabled, and
+// we may want to implement ASSERT_* using exceptions where they are
+// available.
+// 2. You cannot use ASSERT_* directly in a constructor or
+// destructor.
+class Environment {
+ public:
+ // The d'tor is virtual as we need to subclass Environment.
+ virtual ~Environment() {}
+
+ // Override this to define how to set up the environment.
+ virtual void SetUp() {}
+
+ // Override this to define how to tear down the environment.
+ virtual void TearDown() {}
+ private:
+ // If you see an error about overriding the following function or
+ // about it being private, you have mis-spelled SetUp() as Setup().
+ struct Setup_should_be_spelled_SetUp {};
+ virtual Setup_should_be_spelled_SetUp* Setup() { return NULL; }
+};
+
+// The interface for tracing execution of tests. The methods are organized in
+// the order the corresponding events are fired.
+class TestEventListener {
+ public:
+ virtual ~TestEventListener() {}
+
+ // Fired before any test activity starts.
+ virtual void OnTestProgramStart(const UnitTest& unit_test) = 0;
+
+ // Fired before each iteration of tests starts. There may be more than
+ // one iteration if GTEST_FLAG(repeat) is set. iteration is the iteration
+ // index, starting from 0.
+ virtual void OnTestIterationStart(const UnitTest& unit_test,
+ int iteration) = 0;
+
+ // Fired before environment set-up for each iteration of tests starts.
+ virtual void OnEnvironmentsSetUpStart(const UnitTest& unit_test) = 0;
+
+ // Fired after environment set-up for each iteration of tests ends.
+ virtual void OnEnvironmentsSetUpEnd(const UnitTest& unit_test) = 0;
+
+ // Fired before the test case starts.
+ virtual void OnTestCaseStart(const TestCase& test_case) = 0;
+
+ // Fired before the test starts.
+ virtual void OnTestStart(const TestInfo& test_info) = 0;
+
+ // Fired after a failed assertion or a SUCCEED() invocation.
+ virtual void OnTestPartResult(const TestPartResult& test_part_result) = 0;
+
+ // Fired after the test ends.
+ virtual void OnTestEnd(const TestInfo& test_info) = 0;
+
+ // Fired after the test case ends.
+ virtual void OnTestCaseEnd(const TestCase& test_case) = 0;
+
+ // Fired before environment tear-down for each iteration of tests starts.
+ virtual void OnEnvironmentsTearDownStart(const UnitTest& unit_test) = 0;
+
+ // Fired after environment tear-down for each iteration of tests ends.
+ virtual void OnEnvironmentsTearDownEnd(const UnitTest& unit_test) = 0;
+
+ // Fired after each iteration of tests finishes.
+ virtual void OnTestIterationEnd(const UnitTest& unit_test,
+ int iteration) = 0;
+
+ // Fired after all test activities have ended.
+ virtual void OnTestProgramEnd(const UnitTest& unit_test) = 0;
+};
+
+// The convenience class for users who need to override just one or two
+// methods and are not concerned that a possible change to a signature of
+// the methods they override will not be caught during the build. For
+// comments about each method please see the definition of TestEventListener
+// above.
+class EmptyTestEventListener : public TestEventListener {
+ public:
+ virtual void OnTestProgramStart(const UnitTest& /*unit_test*/) {}
+ virtual void OnTestIterationStart(const UnitTest& /*unit_test*/,
+ int /*iteration*/) {}
+ virtual void OnEnvironmentsSetUpStart(const UnitTest& /*unit_test*/) {}
+ virtual void OnEnvironmentsSetUpEnd(const UnitTest& /*unit_test*/) {}
+ virtual void OnTestCaseStart(const TestCase& /*test_case*/) {}
+ virtual void OnTestStart(const TestInfo& /*test_info*/) {}
+ virtual void OnTestPartResult(const TestPartResult& /*test_part_result*/) {}
+ virtual void OnTestEnd(const TestInfo& /*test_info*/) {}
+ virtual void OnTestCaseEnd(const TestCase& /*test_case*/) {}
+ virtual void OnEnvironmentsTearDownStart(const UnitTest& /*unit_test*/) {}
+ virtual void OnEnvironmentsTearDownEnd(const UnitTest& /*unit_test*/) {}
+ virtual void OnTestIterationEnd(const UnitTest& /*unit_test*/,
+ int /*iteration*/) {}
+ virtual void OnTestProgramEnd(const UnitTest& /*unit_test*/) {}
+};
+
+// TestEventListeners lets users add listeners to track events in Google Test.
+class GTEST_API_ TestEventListeners {
+ public:
+ TestEventListeners();
+ ~TestEventListeners();
+
+ // Appends an event listener to the end of the list. Google Test assumes
+ // the ownership of the listener (i.e. it will delete the listener when
+ // the test program finishes).
+ void Append(TestEventListener* listener);
+
+ // Removes the given event listener from the list and returns it. It then
+ // becomes the caller's responsibility to delete the listener. Returns
+ // NULL if the listener is not found in the list.
+ TestEventListener* Release(TestEventListener* listener);
+
+ // Returns the standard listener responsible for the default console
+ // output. Can be removed from the listeners list to shut down default
+ // console output. Note that removing this object from the listener list
+ // with Release transfers its ownership to the caller and makes this
+ // function return NULL the next time.
+ TestEventListener* default_result_printer() const {
+ return default_result_printer_;
+ }
+
+ // Returns the standard listener responsible for the default XML output
+ // controlled by the --gtest_output=xml flag. Can be removed from the
+ // listeners list by users who want to shut down the default XML output
+ // controlled by this flag and substitute it with custom one. Note that
+ // removing this object from the listener list with Release transfers its
+ // ownership to the caller and makes this function return NULL the next
+ // time.
+ TestEventListener* default_xml_generator() const {
+ return default_xml_generator_;
+ }
+
+ private:
+ friend class TestCase;
+ friend class TestInfo;
+ friend class internal::DefaultGlobalTestPartResultReporter;
+ friend class internal::NoExecDeathTest;
+ friend class internal::TestEventListenersAccessor;
+ friend class internal::UnitTestImpl;
+
+ // Returns repeater that broadcasts the TestEventListener events to all
+ // subscribers.
+ TestEventListener* repeater();
+
+ // Sets the default_result_printer attribute to the provided listener.
+ // The listener is also added to the listener list and previous
+ // default_result_printer is removed from it and deleted. The listener can
+ // also be NULL in which case it will not be added to the list. Does
+ // nothing if the previous and the current listener objects are the same.
+ void SetDefaultResultPrinter(TestEventListener* listener);
+
+ // Sets the default_xml_generator attribute to the provided listener. The
+ // listener is also added to the listener list and previous
+ // default_xml_generator is removed from it and deleted. The listener can
+ // also be NULL in which case it will not be added to the list. Does
+ // nothing if the previous and the current listener objects are the same.
+ void SetDefaultXmlGenerator(TestEventListener* listener);
+
+ // Controls whether events will be forwarded by the repeater to the
+ // listeners in the list.
+ bool EventForwardingEnabled() const;
+ void SuppressEventForwarding();
+
+ // The actual list of listeners.
+ internal::TestEventRepeater* repeater_;
+ // Listener responsible for the standard result output.
+ TestEventListener* default_result_printer_;
+ // Listener responsible for the creation of the XML output file.
+ TestEventListener* default_xml_generator_;
+
+ // We disallow copying TestEventListeners.
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(TestEventListeners);
+};
+
+// A UnitTest consists of a vector of TestCases.
+//
+// This is a singleton class. The only instance of UnitTest is
+// created when UnitTest::GetInstance() is first called. This
+// instance is never deleted.
+//
+// UnitTest is not copyable.
+//
+// This class is thread-safe as long as the methods are called
+// according to their specification.
+class GTEST_API_ UnitTest {
+ public:
+ // Gets the singleton UnitTest object. The first time this method
+ // is called, a UnitTest object is constructed and returned.
+ // Consecutive calls will return the same object.
+ static UnitTest* GetInstance();
+
+ // Runs all tests in this UnitTest object and prints the result.
+ // Returns 0 if successful, or 1 otherwise.
+ //
+ // This method can only be called from the main thread.
+ //
+ // INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+ int Run() GTEST_MUST_USE_RESULT_;
+
+ // Returns the working directory when the first TEST() or TEST_F()
+ // was executed. The UnitTest object owns the string.
+ const char* original_working_dir() const;
+
+ // Returns the TestCase object for the test that's currently running,
+ // or NULL if no test is running.
+ const TestCase* current_test_case() const;
+
+ // Returns the TestInfo object for the test that's currently running,
+ // or NULL if no test is running.
+ const TestInfo* current_test_info() const;
+
+ // Returns the random seed used at the start of the current test run.
+ int random_seed() const;
+
+#if GTEST_HAS_PARAM_TEST
+ // Returns the ParameterizedTestCaseRegistry object used to keep track of
+ // value-parameterized tests and instantiate and register them.
+ //
+ // INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+ internal::ParameterizedTestCaseRegistry& parameterized_test_registry();
+#endif // GTEST_HAS_PARAM_TEST
+
+ // Gets the number of successful test cases.
+ int successful_test_case_count() const;
+
+ // Gets the number of failed test cases.
+ int failed_test_case_count() const;
+
+ // Gets the number of all test cases.
+ int total_test_case_count() const;
+
+ // Gets the number of all test cases that contain at least one test
+ // that should run.
+ int test_case_to_run_count() const;
+
+ // Gets the number of successful tests.
+ int successful_test_count() const;
+
+ // Gets the number of failed tests.
+ int failed_test_count() const;
+
+ // Gets the number of disabled tests.
+ int disabled_test_count() const;
+
+ // Gets the number of all tests.
+ int total_test_count() const;
+
+ // Gets the number of tests that should run.
+ int test_to_run_count() const;
+
+ // Gets the elapsed time, in milliseconds.
+ TimeInMillis elapsed_time() const;
+
+ // Returns true iff the unit test passed (i.e. all test cases passed).
+ bool Passed() const;
+
+ // Returns true iff the unit test failed (i.e. some test case failed
+ // or something outside of all tests failed).
+ bool Failed() const;
+
+ // Gets the i-th test case among all the test cases. i can range from 0 to
+ // total_test_case_count() - 1. If i is not in that range, returns NULL.
+ const TestCase* GetTestCase(int i) const;
+
+ // Returns the list of event listeners that can be used to track events
+ // inside Google Test.
+ TestEventListeners& listeners();
+
+ private:
+ // Registers and returns a global test environment. When a test
+ // program is run, all global test environments will be set-up in
+ // the order they were registered. After all tests in the program
+ // have finished, all global test environments will be torn-down in
+ // the *reverse* order they were registered.
+ //
+ // The UnitTest object takes ownership of the given environment.
+ //
+ // This method can only be called from the main thread.
+ Environment* AddEnvironment(Environment* env);
+
+ // Adds a TestPartResult to the current TestResult object. All
+ // Google Test assertion macros (e.g. ASSERT_TRUE, EXPECT_EQ, etc)
+ // eventually call this to report their results. The user code
+ // should use the assertion macros instead of calling this directly.
+ void AddTestPartResult(TestPartResult::Type result_type,
+ const char* file_name,
+ int line_number,
+ const internal::String& message,
+ const internal::String& os_stack_trace);
+
+ // Adds a TestProperty to the current TestResult object. If the result already
+ // contains a property with the same key, the value will be updated.
+ void RecordPropertyForCurrentTest(const char* key, const char* value);
+
+ // Gets the i-th test case among all the test cases. i can range from 0 to
+ // total_test_case_count() - 1. If i is not in that range, returns NULL.
+ TestCase* GetMutableTestCase(int i);
+
+ // Accessors for the implementation object.
+ internal::UnitTestImpl* impl() { return impl_; }
+ const internal::UnitTestImpl* impl() const { return impl_; }
+
+ // These classes and funcions are friends as they need to access private
+ // members of UnitTest.
+ friend class Test;
+ friend class internal::AssertHelper;
+ friend class internal::ScopedTrace;
+ friend Environment* AddGlobalTestEnvironment(Environment* env);
+ friend internal::UnitTestImpl* internal::GetUnitTestImpl();
+ friend void internal::ReportFailureInUnknownLocation(
+ TestPartResult::Type result_type,
+ const internal::String& message);
+
+ // Creates an empty UnitTest.
+ UnitTest();
+
+ // D'tor
+ virtual ~UnitTest();
+
+ // Pushes a trace defined by SCOPED_TRACE() on to the per-thread
+ // Google Test trace stack.
+ void PushGTestTrace(const internal::TraceInfo& trace);
+
+ // Pops a trace from the per-thread Google Test trace stack.
+ void PopGTestTrace();
+
+ // Protects mutable state in *impl_. This is mutable as some const
+ // methods need to lock it too.
+ mutable internal::Mutex mutex_;
+
+ // Opaque implementation object. This field is never changed once
+ // the object is constructed. We don't mark it as const here, as
+ // doing so will cause a warning in the constructor of UnitTest.
+ // Mutable state in *impl_ is protected by mutex_.
+ internal::UnitTestImpl* impl_;
+
+ // We disallow copying UnitTest.
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(UnitTest);
+};
+
+// A convenient wrapper for adding an environment for the test
+// program.
+//
+// You should call this before RUN_ALL_TESTS() is called, probably in
+// main(). If you use gtest_main, you need to call this before main()
+// starts for it to take effect. For example, you can define a global
+// variable like this:
+//
+// testing::Environment* const foo_env =
+// testing::AddGlobalTestEnvironment(new FooEnvironment);
+//
+// However, we strongly recommend you to write your own main() and
+// call AddGlobalTestEnvironment() there, as relying on initialization
+// of global variables makes the code harder to read and may cause
+// problems when you register multiple environments from different
+// translation units and the environments have dependencies among them
+// (remember that the compiler doesn't guarantee the order in which
+// global variables from different translation units are initialized).
+inline Environment* AddGlobalTestEnvironment(Environment* env) {
+ return UnitTest::GetInstance()->AddEnvironment(env);
+}
+
+// Initializes Google Test. This must be called before calling
+// RUN_ALL_TESTS(). In particular, it parses a command line for the
+// flags that Google Test recognizes. Whenever a Google Test flag is
+// seen, it is removed from argv, and *argc is decremented.
+//
+// No value is returned. Instead, the Google Test flag variables are
+// updated.
+//
+// Calling the function for the second time has no user-visible effect.
+GTEST_API_ void InitGoogleTest(int* argc, char** argv);
+
+// This overloaded version can be used in Windows programs compiled in
+// UNICODE mode.
+GTEST_API_ void InitGoogleTest(int* argc, wchar_t** argv);
+
+namespace internal {
+
+// Formats a comparison assertion (e.g. ASSERT_EQ, EXPECT_LT, and etc)
+// operand to be used in a failure message. The type (but not value)
+// of the other operand may affect the format. This allows us to
+// print a char* as a raw pointer when it is compared against another
+// char*, and print it as a C string when it is compared against an
+// std::string object, for example.
+//
+// The default implementation ignores the type of the other operand.
+// Some specialized versions are used to handle formatting wide or
+// narrow C strings.
+//
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+template <typename T1, typename T2>
+String FormatForComparisonFailureMessage(const T1& value,
+ const T2& /* other_operand */) {
+ // C++Builder compiles this incorrectly if the namespace isn't explicitly
+ // given.
+ return ::testing::PrintToString(value);
+}
+
+// The helper function for {ASSERT|EXPECT}_EQ.
+template <typename T1, typename T2>
+AssertionResult CmpHelperEQ(const char* expected_expression,
+ const char* actual_expression,
+ const T1& expected,
+ const T2& actual) {
+#ifdef _MSC_VER
+# pragma warning(push) // Saves the current warning state.
+# pragma warning(disable:4389) // Temporarily disables warning on
+ // signed/unsigned mismatch.
+#endif
+
+ if (expected == actual) {
+ return AssertionSuccess();
+ }
+
+#ifdef _MSC_VER
+# pragma warning(pop) // Restores the warning state.
+#endif
+
+ return EqFailure(expected_expression,
+ actual_expression,
+ FormatForComparisonFailureMessage(expected, actual),
+ FormatForComparisonFailureMessage(actual, expected),
+ false);
+}
+
+// With this overloaded version, we allow anonymous enums to be used
+// in {ASSERT|EXPECT}_EQ when compiled with gcc 4, as anonymous enums
+// can be implicitly cast to BiggestInt.
+GTEST_API_ AssertionResult CmpHelperEQ(const char* expected_expression,
+ const char* actual_expression,
+ BiggestInt expected,
+ BiggestInt actual);
+
+// The helper class for {ASSERT|EXPECT}_EQ. The template argument
+// lhs_is_null_literal is true iff the first argument to ASSERT_EQ()
+// is a null pointer literal. The following default implementation is
+// for lhs_is_null_literal being false.
+template <bool lhs_is_null_literal>
+class EqHelper {
+ public:
+ // This templatized version is for the general case.
+ template <typename T1, typename T2>
+ static AssertionResult Compare(const char* expected_expression,
+ const char* actual_expression,
+ const T1& expected,
+ const T2& actual) {
+ return CmpHelperEQ(expected_expression, actual_expression, expected,
+ actual);
+ }
+
+ // With this overloaded version, we allow anonymous enums to be used
+ // in {ASSERT|EXPECT}_EQ when compiled with gcc 4, as anonymous
+ // enums can be implicitly cast to BiggestInt.
+ //
+ // Even though its body looks the same as the above version, we
+ // cannot merge the two, as it will make anonymous enums unhappy.
+ static AssertionResult Compare(const char* expected_expression,
+ const char* actual_expression,
+ BiggestInt expected,
+ BiggestInt actual) {
+ return CmpHelperEQ(expected_expression, actual_expression, expected,
+ actual);
+ }
+};
+
+// This specialization is used when the first argument to ASSERT_EQ()
+// is a null pointer literal, like NULL, false, or 0.
+template <>
+class EqHelper<true> {
+ public:
+ // We define two overloaded versions of Compare(). The first
+ // version will be picked when the second argument to ASSERT_EQ() is
+ // NOT a pointer, e.g. ASSERT_EQ(0, AnIntFunction()) or
+ // EXPECT_EQ(false, a_bool).
+ template <typename T1, typename T2>
+ static AssertionResult Compare(
+ const char* expected_expression,
+ const char* actual_expression,
+ const T1& expected,
+ const T2& actual,
+ // The following line prevents this overload from being considered if T2
+ // is not a pointer type. We need this because ASSERT_EQ(NULL, my_ptr)
+ // expands to Compare("", "", NULL, my_ptr), which requires a conversion
+ // to match the Secret* in the other overload, which would otherwise make
+ // this template match better.
+ typename EnableIf<!is_pointer<T2>::value>::type* = 0) {
+ return CmpHelperEQ(expected_expression, actual_expression, expected,
+ actual);
+ }
+
+ // This version will be picked when the second argument to ASSERT_EQ() is a
+ // pointer, e.g. ASSERT_EQ(NULL, a_pointer).
+ template <typename T>
+ static AssertionResult Compare(
+ const char* expected_expression,
+ const char* actual_expression,
+ // We used to have a second template parameter instead of Secret*. That
+ // template parameter would deduce to 'long', making this a better match
+ // than the first overload even without the first overload's EnableIf.
+ // Unfortunately, gcc with -Wconversion-null warns when "passing NULL to
+ // non-pointer argument" (even a deduced integral argument), so the old
+ // implementation caused warnings in user code.
+ Secret* /* expected (NULL) */,
+ T* actual) {
+ // We already know that 'expected' is a null pointer.
+ return CmpHelperEQ(expected_expression, actual_expression,
+ static_cast<T*>(NULL), actual);
+ }
+};
+
+// A macro for implementing the helper functions needed to implement
+// ASSERT_?? and EXPECT_??. It is here just to avoid copy-and-paste
+// of similar code.
+//
+// For each templatized helper function, we also define an overloaded
+// version for BiggestInt in order to reduce code bloat and allow
+// anonymous enums to be used with {ASSERT|EXPECT}_?? when compiled
+// with gcc 4.
+//
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+#define GTEST_IMPL_CMP_HELPER_(op_name, op)\
+template <typename T1, typename T2>\
+AssertionResult CmpHelper##op_name(const char* expr1, const char* expr2, \
+ const T1& val1, const T2& val2) {\
+ if (val1 op val2) {\
+ return AssertionSuccess();\
+ } else {\
+ return AssertionFailure() \
+ << "Expected: (" << expr1 << ") " #op " (" << expr2\
+ << "), actual: " << FormatForComparisonFailureMessage(val1, val2)\
+ << " vs " << FormatForComparisonFailureMessage(val2, val1);\
+ }\
+}\
+GTEST_API_ AssertionResult CmpHelper##op_name(\
+ const char* expr1, const char* expr2, BiggestInt val1, BiggestInt val2)
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+
+// Implements the helper function for {ASSERT|EXPECT}_NE
+GTEST_IMPL_CMP_HELPER_(NE, !=);
+// Implements the helper function for {ASSERT|EXPECT}_LE
+GTEST_IMPL_CMP_HELPER_(LE, <=);
+// Implements the helper function for {ASSERT|EXPECT}_LT
+GTEST_IMPL_CMP_HELPER_(LT, < );
+// Implements the helper function for {ASSERT|EXPECT}_GE
+GTEST_IMPL_CMP_HELPER_(GE, >=);
+// Implements the helper function for {ASSERT|EXPECT}_GT
+GTEST_IMPL_CMP_HELPER_(GT, > );
+
+#undef GTEST_IMPL_CMP_HELPER_
+
+// The helper function for {ASSERT|EXPECT}_STREQ.
+//
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+GTEST_API_ AssertionResult CmpHelperSTREQ(const char* expected_expression,
+ const char* actual_expression,
+ const char* expected,
+ const char* actual);
+
+// The helper function for {ASSERT|EXPECT}_STRCASEEQ.
+//
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+GTEST_API_ AssertionResult CmpHelperSTRCASEEQ(const char* expected_expression,
+ const char* actual_expression,
+ const char* expected,
+ const char* actual);
+
+// The helper function for {ASSERT|EXPECT}_STRNE.
+//
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+GTEST_API_ AssertionResult CmpHelperSTRNE(const char* s1_expression,
+ const char* s2_expression,
+ const char* s1,
+ const char* s2);
+
+// The helper function for {ASSERT|EXPECT}_STRCASENE.
+//
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+GTEST_API_ AssertionResult CmpHelperSTRCASENE(const char* s1_expression,
+ const char* s2_expression,
+ const char* s1,
+ const char* s2);
+
+
+// Helper function for *_STREQ on wide strings.
+//
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+GTEST_API_ AssertionResult CmpHelperSTREQ(const char* expected_expression,
+ const char* actual_expression,
+ const wchar_t* expected,
+ const wchar_t* actual);
+
+// Helper function for *_STRNE on wide strings.
+//
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+GTEST_API_ AssertionResult CmpHelperSTRNE(const char* s1_expression,
+ const char* s2_expression,
+ const wchar_t* s1,
+ const wchar_t* s2);
+
+} // namespace internal
+
+// IsSubstring() and IsNotSubstring() are intended to be used as the
+// first argument to {EXPECT,ASSERT}_PRED_FORMAT2(), not by
+// themselves. They check whether needle is a substring of haystack
+// (NULL is considered a substring of itself only), and return an
+// appropriate error message when they fail.
+//
+// The {needle,haystack}_expr arguments are the stringified
+// expressions that generated the two real arguments.
+GTEST_API_ AssertionResult IsSubstring(
+ const char* needle_expr, const char* haystack_expr,
+ const char* needle, const char* haystack);
+GTEST_API_ AssertionResult IsSubstring(
+ const char* needle_expr, const char* haystack_expr,
+ const wchar_t* needle, const wchar_t* haystack);
+GTEST_API_ AssertionResult IsNotSubstring(
+ const char* needle_expr, const char* haystack_expr,
+ const char* needle, const char* haystack);
+GTEST_API_ AssertionResult IsNotSubstring(
+ const char* needle_expr, const char* haystack_expr,
+ const wchar_t* needle, const wchar_t* haystack);
+GTEST_API_ AssertionResult IsSubstring(
+ const char* needle_expr, const char* haystack_expr,
+ const ::std::string& needle, const ::std::string& haystack);
+GTEST_API_ AssertionResult IsNotSubstring(
+ const char* needle_expr, const char* haystack_expr,
+ const ::std::string& needle, const ::std::string& haystack);
+
+#if GTEST_HAS_STD_WSTRING
+GTEST_API_ AssertionResult IsSubstring(
+ const char* needle_expr, const char* haystack_expr,
+ const ::std::wstring& needle, const ::std::wstring& haystack);
+GTEST_API_ AssertionResult IsNotSubstring(
+ const char* needle_expr, const char* haystack_expr,
+ const ::std::wstring& needle, const ::std::wstring& haystack);
+#endif // GTEST_HAS_STD_WSTRING
+
+namespace internal {
+
+// Helper template function for comparing floating-points.
+//
+// Template parameter:
+//
+// RawType: the raw floating-point type (either float or double)
+//
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+template <typename RawType>
+AssertionResult CmpHelperFloatingPointEQ(const char* expected_expression,
+ const char* actual_expression,
+ RawType expected,
+ RawType actual) {
+ const FloatingPoint<RawType> lhs(expected), rhs(actual);
+
+ if (lhs.AlmostEquals(rhs)) {
+ return AssertionSuccess();
+ }
+
+ ::std::stringstream expected_ss;
+ expected_ss << std::setprecision(std::numeric_limits<RawType>::digits10 + 2)
+ << expected;
+
+ ::std::stringstream actual_ss;
+ actual_ss << std::setprecision(std::numeric_limits<RawType>::digits10 + 2)
+ << actual;
+
+ return EqFailure(expected_expression,
+ actual_expression,
+ StringStreamToString(&expected_ss),
+ StringStreamToString(&actual_ss),
+ false);
+}
+
+// Helper function for implementing ASSERT_NEAR.
+//
+// INTERNAL IMPLEMENTATION - DO NOT USE IN A USER PROGRAM.
+GTEST_API_ AssertionResult DoubleNearPredFormat(const char* expr1,
+ const char* expr2,
+ const char* abs_error_expr,
+ double val1,
+ double val2,
+ double abs_error);
+
+// INTERNAL IMPLEMENTATION - DO NOT USE IN USER CODE.
+// A class that enables one to stream messages to assertion macros
+class GTEST_API_ AssertHelper {
+ public:
+ // Constructor.
+ AssertHelper(TestPartResult::Type type,
+ const char* file,
+ int line,
+ const char* message);
+ ~AssertHelper();
+
+ // Message assignment is a semantic trick to enable assertion
+ // streaming; see the GTEST_MESSAGE_ macro below.
+ void operator=(const Message& message) const;
+
+ private:
+ // We put our data in a struct so that the size of the AssertHelper class can
+ // be as small as possible. This is important because gcc is incapable of
+ // re-using stack space even for temporary variables, so every EXPECT_EQ
+ // reserves stack space for another AssertHelper.
+ struct AssertHelperData {
+ AssertHelperData(TestPartResult::Type t,
+ const char* srcfile,
+ int line_num,
+ const char* msg)
+ : type(t), file(srcfile), line(line_num), message(msg) { }
+
+ TestPartResult::Type const type;
+ const char* const file;
+ int const line;
+ String const message;
+
+ private:
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(AssertHelperData);
+ };
+
+ AssertHelperData* const data_;
+
+ GTEST_DISALLOW_COPY_AND_ASSIGN_(AssertHelper);
+};
+
+} // namespace internal
+
+#if GTEST_HAS_PARAM_TEST
+// The pure interface class that all value-parameterized tests inherit from.
+// A value-parameterized class must inherit from both ::testing::Test and
+// ::testing::WithParamInterface. In most cases that just means inheriting
+// from ::testing::TestWithParam, but more complicated test hierarchies
+// may need to inherit from Test and WithParamInterface at different levels.
+//
+// This interface has support for accessing the test parameter value via
+// the GetParam() method.
+//
+// Use it with one of the parameter generator defining functions, like Range(),
+// Values(), ValuesIn(), Bool(), and Combine().
+//
+// class FooTest : public ::testing::TestWithParam<int> {
+// protected:
+// FooTest() {
+// // Can use GetParam() here.
+// }
+// virtual ~FooTest() {
+// // Can use GetParam() here.
+// }
+// virtual void SetUp() {
+// // Can use GetParam() here.
+// }
+// virtual void TearDown {
+// // Can use GetParam() here.
+// }
+// };
+// TEST_P(FooTest, DoesBar) {
+// // Can use GetParam() method here.
+// Foo foo;
+// ASSERT_TRUE(foo.DoesBar(GetParam()));
+// }
+// INSTANTIATE_TEST_CASE_P(OneToTenRange, FooTest, ::testing::Range(1, 10));
+
+template <typename T>
+class WithParamInterface {
+ public:
+ typedef T ParamType;
+ virtual ~WithParamInterface() {}
+
+ // The current parameter value. Is also available in the test fixture's
+ // constructor. This member function is non-static, even though it only
+ // references static data, to reduce the opportunity for incorrect uses
+ // like writing 'WithParamInterface<bool>::GetParam()' for a test that
+ // uses a fixture whose parameter type is int.
+ const ParamType& GetParam() const { return *parameter_; }
+
+ private:
+ // Sets parameter value. The caller is responsible for making sure the value
+ // remains alive and unchanged throughout the current test.
+ static void SetParam(const ParamType* parameter) {
+ parameter_ = parameter;
+ }
+
+ // Static value used for accessing parameter during a test lifetime.
+ static const ParamType* parameter_;
+
+ // TestClass must be a subclass of WithParamInterface<T> and Test.
+ template <class TestClass> friend class internal::ParameterizedTestFactory;
+};
+
+template <typename T>
+const T* WithParamInterface<T>::parameter_ = NULL;
+
+// Most value-parameterized classes can ignore the existence of
+// WithParamInterface, and can just inherit from ::testing::TestWithParam.
+
+template <typename T>
+class TestWithParam : public Test, public WithParamInterface<T> {
+};
+
+#endif // GTEST_HAS_PARAM_TEST
+
+// Macros for indicating success/failure in test code.
+
+// ADD_FAILURE unconditionally adds a failure to the current test.
+// SUCCEED generates a success - it doesn't automatically make the
+// current test successful, as a test is only successful when it has
+// no failure.
+//
+// EXPECT_* verifies that a certain condition is satisfied. If not,
+// it behaves like ADD_FAILURE. In particular:
+//
+// EXPECT_TRUE verifies that a Boolean condition is true.
+// EXPECT_FALSE verifies that a Boolean condition is false.
+//
+// FAIL and ASSERT_* are similar to ADD_FAILURE and EXPECT_*, except
+// that they will also abort the current function on failure. People
+// usually want the fail-fast behavior of FAIL and ASSERT_*, but those
+// writing data-driven tests often find themselves using ADD_FAILURE
+// and EXPECT_* more.
+//
+// Examples:
+//
+// EXPECT_TRUE(server.StatusIsOK());
+// ASSERT_FALSE(server.HasPendingRequest(port))
+// << "There are still pending requests " << "on port " << port;
+
+// Generates a nonfatal failure with a generic message.
+#define ADD_FAILURE() GTEST_NONFATAL_FAILURE_("Failed")
+
+// Generates a nonfatal failure at the given source file location with
+// a generic message.
+#define ADD_FAILURE_AT(file, line) \
+ GTEST_MESSAGE_AT_(file, line, "Failed", \
+ ::testing::TestPartResult::kNonFatalFailure)
+
+// Generates a fatal failure with a generic message.
+#define GTEST_FAIL() GTEST_FATAL_FAILURE_("Failed")
+
+// Define this macro to 1 to omit the definition of FAIL(), which is a
+// generic name and clashes with some other libraries.
+#if !GTEST_DONT_DEFINE_FAIL
+# define FAIL() GTEST_FAIL()
+#endif
+
+// Generates a success with a generic message.
+#define GTEST_SUCCEED() GTEST_SUCCESS_("Succeeded")
+
+// Define this macro to 1 to omit the definition of SUCCEED(), which
+// is a generic name and clashes with some other libraries.
+#if !GTEST_DONT_DEFINE_SUCCEED
+# define SUCCEED() GTEST_SUCCEED()
+#endif
+
+// Macros for testing exceptions.
+//
+// * {ASSERT|EXPECT}_THROW(statement, expected_exception):
+// Tests that the statement throws the expected exception.
+// * {ASSERT|EXPECT}_NO_THROW(statement):
+// Tests that the statement doesn't throw any exception.
+// * {ASSERT|EXPECT}_ANY_THROW(statement):
+// Tests that the statement throws an exception.
+
+#define EXPECT_THROW(statement, expected_exception) \
+ GTEST_TEST_THROW_(statement, expected_exception, GTEST_NONFATAL_FAILURE_)
+#define EXPECT_NO_THROW(statement) \
+ GTEST_TEST_NO_THROW_(statement, GTEST_NONFATAL_FAILURE_)
+#define EXPECT_ANY_THROW(statement) \
+ GTEST_TEST_ANY_THROW_(statement, GTEST_NONFATAL_FAILURE_)
+#define ASSERT_THROW(statement, expected_exception) \
+ GTEST_TEST_THROW_(statement, expected_exception, GTEST_FATAL_FAILURE_)
+#define ASSERT_NO_THROW(statement) \
+ GTEST_TEST_NO_THROW_(statement, GTEST_FATAL_FAILURE_)
+#define ASSERT_ANY_THROW(statement) \
+ GTEST_TEST_ANY_THROW_(statement, GTEST_FATAL_FAILURE_)
+
+// Boolean assertions. Condition can be either a Boolean expression or an
+// AssertionResult. For more information on how to use AssertionResult with
+// these macros see comments on that class.
+#define EXPECT_TRUE(condition) \
+ GTEST_TEST_BOOLEAN_(condition, #condition, false, true, \
+ GTEST_NONFATAL_FAILURE_)
+#define EXPECT_FALSE(condition) \
+ GTEST_TEST_BOOLEAN_(!(condition), #condition, true, false, \
+ GTEST_NONFATAL_FAILURE_)
+#define ASSERT_TRUE(condition) \
+ GTEST_TEST_BOOLEAN_(condition, #condition, false, true, \
+ GTEST_FATAL_FAILURE_)
+#define ASSERT_FALSE(condition) \
+ GTEST_TEST_BOOLEAN_(!(condition), #condition, true, false, \
+ GTEST_FATAL_FAILURE_)
+
+// Includes the auto-generated header that implements a family of
+// generic predicate assertion macros.
+// Copyright 2006, Google Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+//
+// * Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// * Neither the name of Google Inc. nor the names of its
+// contributors may be used to endorse or promote products derived from
+// this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+// This file is AUTOMATICALLY GENERATED on 09/24/2010 by command
+// 'gen_gtest_pred_impl.py 5'. DO NOT EDIT BY HAND!
+//
+// Implements a family of generic predicate assertion macros.
+
+#ifndef GTEST_INCLUDE_GTEST_GTEST_PRED_IMPL_H_
+#define GTEST_INCLUDE_GTEST_GTEST_PRED_IMPL_H_
+
+// Makes sure this header is not included before gtest.h.
+#ifndef GTEST_INCLUDE_GTEST_GTEST_H_
+# error Do not include gtest_pred_impl.h directly. Include gtest.h instead.
+#endif // GTEST_INCLUDE_GTEST_GTEST_H_
+
+// This header implements a family of generic predicate assertion
+// macros:
+//
+// ASSERT_PRED_FORMAT1(pred_format, v1)
+// ASSERT_PRED_FORMAT2(pred_format, v1, v2)
+// ...
+//
+// where pred_format is a function or functor that takes n (in the
+// case of ASSERT_PRED_FORMATn) values and their source expression
+// text, and returns a testing::AssertionResult. See the definition
+// of ASSERT_EQ in gtest.h for an example.
+//
+// If you don't care about formatting, you can use the more
+// restrictive version:
+//
+// ASSERT_PRED1(pred, v1)
+// ASSERT_PRED2(pred, v1, v2)
+// ...
+//
+// where pred is an n-ary function or functor that returns bool,
+// and the values v1, v2, ..., must support the << operator for
+// streaming to std::ostream.
+//
+// We also define the EXPECT_* variations.
+//
+// For now we only support predicates whose arity is at most 5.
+// Please email googletestframework@googlegroups.com if you need
+// support for higher arities.
+
+// GTEST_ASSERT_ is the basic statement to which all of the assertions
+// in this file reduce. Don't use this in your code.
+
+#define GTEST_ASSERT_(expression, on_failure) \
+ GTEST_AMBIGUOUS_ELSE_BLOCKER_ \
+ if (const ::testing::AssertionResult gtest_ar = (expression)) \
+ ; \
+ else \
+ on_failure(gtest_ar.failure_message())
+
+
+// Helper function for implementing {EXPECT|ASSERT}_PRED1. Don't use
+// this in your code.
+template <typename Pred,
+ typename T1>
+AssertionResult AssertPred1Helper(const char* pred_text,
+ const char* e1,
+ Pred pred,
+ const T1& v1) {
+ if (pred(v1)) return AssertionSuccess();
+
+ return AssertionFailure() << pred_text << "("
+ << e1 << ") evaluates to false, where"
+ << "\n" << e1 << " evaluates to " << v1;
+}
+
+// Internal macro for implementing {EXPECT|ASSERT}_PRED_FORMAT1.
+// Don't use this in your code.
+#define GTEST_PRED_FORMAT1_(pred_format, v1, on_failure)\
+ GTEST_ASSERT_(pred_format(#v1, v1),\
+ on_failure)
+
+// Internal macro for implementing {EXPECT|ASSERT}_PRED1. Don't use
+// this in your code.
+#define GTEST_PRED1_(pred, v1, on_failure)\
+ GTEST_ASSERT_(::testing::AssertPred1Helper(#pred, \
+ #v1, \
+ pred, \
+ v1), on_failure)
+
+// Unary predicate assertion macros.
+#define EXPECT_PRED_FORMAT1(pred_format, v1) \
+ GTEST_PRED_FORMAT1_(pred_format, v1, GTEST_NONFATAL_FAILURE_)
+#define EXPECT_PRED1(pred, v1) \
+ GTEST_PRED1_(pred, v1, GTEST_NONFATAL_FAILURE_)
+#define ASSERT_PRED_FORMAT1(pred_format, v1) \
+ GTEST_PRED_FORMAT1_(pred_format, v1, GTEST_FATAL_FAILURE_)
+#define ASSERT_PRED1(pred, v1) \
+ GTEST_PRED1_(pred, v1, GTEST_FATAL_FAILURE_)
+
+
+
+// Helper function for implementing {EXPECT|ASSERT}_PRED2. Don't use
+// this in your code.
+template <typename Pred,
+ typename T1,
+ typename T2>
+AssertionResult AssertPred2Helper(const char* pred_text,
+ const char* e1,
+ const char* e2,
+ Pred pred,
+ const T1& v1,
+ const T2& v2) {
+ if (pred(v1, v2)) return AssertionSuccess();
+
+ return AssertionFailure() << pred_text << "("
+ << e1 << ", "
+ << e2 << ") evaluates to false, where"
+ << "\n" << e1 << " evaluates to " << v1
+ << "\n" << e2 << " evaluates to " << v2;
+}
+
+// Internal macro for implementing {EXPECT|ASSERT}_PRED_FORMAT2.
+// Don't use this in your code.
+#define GTEST_PRED_FORMAT2_(pred_format, v1, v2, on_failure)\
+ GTEST_ASSERT_(pred_format(#v1, #v2, v1, v2),\
+ on_failure)
+
+// Internal macro for implementing {EXPECT|ASSERT}_PRED2. Don't use
+// this in your code.
+#define GTEST_PRED2_(pred, v1, v2, on_failure)\
+ GTEST_ASSERT_(::testing::AssertPred2Helper(#pred, \
+ #v1, \
+ #v2, \
+ pred, \
+ v1, \
+ v2), on_failure)
+
+// Binary predicate assertion macros.
+#define EXPECT_PRED_FORMAT2(pred_format, v1, v2) \
+ GTEST_PRED_FORMAT2_(pred_format, v1, v2, GTEST_NONFATAL_FAILURE_)
+#define EXPECT_PRED2(pred, v1, v2) \
+ GTEST_PRED2_(pred, v1, v2, GTEST_NONFATAL_FAILURE_)
+#define ASSERT_PRED_FORMAT2(pred_format, v1, v2) \
+ GTEST_PRED_FORMAT2_(pred_format, v1, v2, GTEST_FATAL_FAILURE_)
+#define ASSERT_PRED2(pred, v1, v2) \
+ GTEST_PRED2_(pred, v1, v2, GTEST_FATAL_FAILURE_)
+
+
+
+// Helper function for implementing {EXPECT|ASSERT}_PRED3. Don't use
+// this in your code.
+template <typename Pred,
+ typename T1,
+ typename T2,
+ typename T3>
+AssertionResult AssertPred3Helper(const char* pred_text,
+ const char* e1,
+ const char* e2,
+ const char* e3,
+ Pred pred,
+ const T1& v1,
+ const T2& v2,
+ const T3& v3) {
+ if (pred(v1, v2, v3)) return AssertionSuccess();
+
+ return AssertionFailure() << pred_text << "("
+ << e1 << ", "
+ << e2 << ", "
+ << e3 << ") evaluates to false, where"
+ << "\n" << e1 << " evaluates to " << v1
+ << "\n" << e2 << " evaluates to " << v2
+ << "\n" << e3 << " evaluates to " << v3;
+}
+
+// Internal macro for implementing {EXPECT|ASSERT}_PRED_FORMAT3.
+// Don't use this in your code.
+#define GTEST_PRED_FORMAT3_(pred_format, v1, v2, v3, on_failure)\
+ GTEST_ASSERT_(pred_format(#v1, #v2, #v3, v1, v2, v3),\
+ on_failure)
+
+// Internal macro for implementing {EXPECT|ASSERT}_PRED3. Don't use
+// this in your code.
+#define GTEST_PRED3_(pred, v1, v2, v3, on_failure)\
+ GTEST_ASSERT_(::testing::AssertPred3Helper(#pred, \
+ #v1, \
+ #v2, \
+ #v3, \
+ pred, \
+ v1, \
+ v2, \
+ v3), on_failure)
+
+// Ternary predicate assertion macros.
+#define EXPECT_PRED_FORMAT3(pred_format, v1, v2, v3) \
+ GTEST_PRED_FORMAT3_(pred_format, v1, v2, v3, GTEST_NONFATAL_FAILURE_)
+#define EXPECT_PRED3(pred, v1, v2, v3) \
+ GTEST_PRED3_(pred, v1, v2, v3, GTEST_NONFATAL_FAILURE_)
+#define ASSERT_PRED_FORMAT3(pred_format, v1, v2, v3) \
+ GTEST_PRED_FORMAT3_(pred_format, v1, v2, v3, GTEST_FATAL_FAILURE_)
+#define ASSERT_PRED3(pred, v1, v2, v3) \
+ GTEST_PRED3_(pred, v1, v2, v3, GTEST_FATAL_FAILURE_)
+
+
+
+// Helper function for implementing {EXPECT|ASSERT}_PRED4. Don't use
+// this in your code.
+template <typename Pred,
+ typename T1,
+ typename T2,
+ typename T3,
+ typename T4>
+AssertionResult AssertPred4Helper(const char* pred_text,
+ const char* e1,
+ const char* e2,
+ const char* e3,
+ const char* e4,
+ Pred pred,
+ const T1& v1,
+ const T2& v2,
+ const T3& v3,
+ const T4& v4) {
+ if (pred(v1, v2, v3, v4)) return AssertionSuccess();
+
+ return AssertionFailure() << pred_text << "("
+ << e1 << ", "
+ << e2 << ", "
+ << e3 << ", "
+ << e4 << ") evaluates to false, where"
+ << "\n" << e1 << " evaluates to " << v1
+ << "\n" << e2 << " evaluates to " << v2
+ << "\n" << e3 << " evaluates to " << v3
+ << "\n" << e4 << " evaluates to " << v4;
+}
+
+// Internal macro for implementing {EXPECT|ASSERT}_PRED_FORMAT4.
+// Don't use this in your code.
+#define GTEST_PRED_FORMAT4_(pred_format, v1, v2, v3, v4, on_failure)\
+ GTEST_ASSERT_(pred_format(#v1, #v2, #v3, #v4, v1, v2, v3, v4),\
+ on_failure)
+
+// Internal macro for implementing {EXPECT|ASSERT}_PRED4. Don't use
+// this in your code.
+#define GTEST_PRED4_(pred, v1, v2, v3, v4, on_failure)\
+ GTEST_ASSERT_(::testing::AssertPred4Helper(#pred, \
+ #v1, \
+ #v2, \
+ #v3, \
+ #v4, \
+ pred, \
+ v1, \
+ v2, \
+ v3, \
+ v4), on_failure)
+
+// 4-ary predicate assertion macros.
+#define EXPECT_PRED_FORMAT4(pred_format, v1, v2, v3, v4) \
+ GTEST_PRED_FORMAT4_(pred_format, v1, v2, v3, v4, GTEST_NONFATAL_FAILURE_)
+#define EXPECT_PRED4(pred, v1, v2, v3, v4) \
+ GTEST_PRED4_(pred, v1, v2, v3, v4, GTEST_NONFATAL_FAILURE_)
+#define ASSERT_PRED_FORMAT4(pred_format, v1, v2, v3, v4) \
+ GTEST_PRED_FORMAT4_(pred_format, v1, v2, v3, v4, GTEST_FATAL_FAILURE_)
+#define ASSERT_PRED4(pred, v1, v2, v3, v4) \
+ GTEST_PRED4_(pred, v1, v2, v3, v4, GTEST_FATAL_FAILURE_)
+
+
+
+// Helper function for implementing {EXPECT|ASSERT}_PRED5. Don't use
+// this in your code.
+template <typename Pred,
+ typename T1,
+ typename T2,
+ typename T3,
+ typename T4,
+ typename T5>
+AssertionResult AssertPred5Helper(const char* pred_text,
+ const char* e1,
+ const char* e2,
+ const char* e3,
+ const char* e4,
+ const char* e5,
+ Pred pred,
+ const T1& v1,
+ const T2& v2,
+ const T3& v3,
+ const T4& v4,
+ const T5& v5) {
+ if (pred(v1, v2, v3, v4, v5)) return AssertionSuccess();
+
+ return AssertionFailure() << pred_text << "("
+ << e1 << ", "
+ << e2 << ", "
+ << e3 << ", "
+ << e4 << ", "
+ << e5 << ") evaluates to false, where"
+ << "\n" << e1 << " evaluates to " << v1
+ << "\n" << e2 << " evaluates to " << v2
+ << "\n" << e3 << " evaluates to " << v3
+ << "\n" << e4 << " evaluates to " << v4
+ << "\n" << e5 << " evaluates to " << v5;
+}
+
+// Internal macro for implementing {EXPECT|ASSERT}_PRED_FORMAT5.
+// Don't use this in your code.
+#define GTEST_PRED_FORMAT5_(pred_format, v1, v2, v3, v4, v5, on_failure)\
+ GTEST_ASSERT_(pred_format(#v1, #v2, #v3, #v4, #v5, v1, v2, v3, v4, v5),\
+ on_failure)
+
+// Internal macro for implementing {EXPECT|ASSERT}_PRED5. Don't use
+// this in your code.
+#define GTEST_PRED5_(pred, v1, v2, v3, v4, v5, on_failure)\
+ GTEST_ASSERT_(::testing::AssertPred5Helper(#pred, \
+ #v1, \
+ #v2, \
+ #v3, \
+ #v4, \
+ #v5, \
+ pred, \
+ v1, \
+ v2, \
+ v3, \
+ v4, \
+ v5), on_failure)
+
+// 5-ary predicate assertion macros.
+#define EXPECT_PRED_FORMAT5(pred_format, v1, v2, v3, v4, v5) \
+ GTEST_PRED_FORMAT5_(pred_format, v1, v2, v3, v4, v5, GTEST_NONFATAL_FAILURE_)
+#define EXPECT_PRED5(pred, v1, v2, v3, v4, v5) \
+ GTEST_PRED5_(pred, v1, v2, v3, v4, v5, GTEST_NONFATAL_FAILURE_)
+#define ASSERT_PRED_FORMAT5(pred_format, v1, v2, v3, v4, v5) \
+ GTEST_PRED_FORMAT5_(pred_format, v1, v2, v3, v4, v5, GTEST_FATAL_FAILURE_)
+#define ASSERT_PRED5(pred, v1, v2, v3, v4, v5) \
+ GTEST_PRED5_(pred, v1, v2, v3, v4, v5, GTEST_FATAL_FAILURE_)
+
+
+
+#endif // GTEST_INCLUDE_GTEST_GTEST_PRED_IMPL_H_
+
+// Macros for testing equalities and inequalities.
+//
+// * {ASSERT|EXPECT}_EQ(expected, actual): Tests that expected == actual
+// * {ASSERT|EXPECT}_NE(v1, v2): Tests that v1 != v2
+// * {ASSERT|EXPECT}_LT(v1, v2): Tests that v1 < v2
+// * {ASSERT|EXPECT}_LE(v1, v2): Tests that v1 <= v2
+// * {ASSERT|EXPECT}_GT(v1, v2): Tests that v1 > v2
+// * {ASSERT|EXPECT}_GE(v1, v2): Tests that v1 >= v2
+//
+// When they are not, Google Test prints both the tested expressions and
+// their actual values. The values must be compatible built-in types,
+// or you will get a compiler error. By "compatible" we mean that the
+// values can be compared by the respective operator.
+//
+// Note:
+//
+// 1. It is possible to make a user-defined type work with
+// {ASSERT|EXPECT}_??(), but that requires overloading the
+// comparison operators and is thus discouraged by the Google C++
+// Usage Guide. Therefore, you are advised to use the
+// {ASSERT|EXPECT}_TRUE() macro to assert that two objects are
+// equal.
+//
+// 2. The {ASSERT|EXPECT}_??() macros do pointer comparisons on
+// pointers (in particular, C strings). Therefore, if you use it
+// with two C strings, you are testing how their locations in memory
+// are related, not how their content is related. To compare two C
+// strings by content, use {ASSERT|EXPECT}_STR*().
+//
+// 3. {ASSERT|EXPECT}_EQ(expected, actual) is preferred to
+// {ASSERT|EXPECT}_TRUE(expected == actual), as the former tells you
+// what the actual value is when it fails, and similarly for the
+// other comparisons.
+//
+// 4. Do not depend on the order in which {ASSERT|EXPECT}_??()
+// evaluate their arguments, which is undefined.
+//
+// 5. These macros evaluate their arguments exactly once.
+//
+// Examples:
+//
+// EXPECT_NE(5, Foo());
+// EXPECT_EQ(NULL, a_pointer);
+// ASSERT_LT(i, array_size);
+// ASSERT_GT(records.size(), 0) << "There is no record left.";
+
+#define EXPECT_EQ(expected, actual) \
+ EXPECT_PRED_FORMAT2(::testing::internal:: \
+ EqHelper<GTEST_IS_NULL_LITERAL_(expected)>::Compare, \
+ expected, actual)
+#define EXPECT_NE(expected, actual) \
+ EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperNE, expected, actual)
+#define EXPECT_LE(val1, val2) \
+ EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperLE, val1, val2)
+#define EXPECT_LT(val1, val2) \
+ EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperLT, val1, val2)
+#define EXPECT_GE(val1, val2) \
+ EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperGE, val1, val2)
+#define EXPECT_GT(val1, val2) \
+ EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperGT, val1, val2)
+
+#define GTEST_ASSERT_EQ(expected, actual) \
+ ASSERT_PRED_FORMAT2(::testing::internal:: \
+ EqHelper<GTEST_IS_NULL_LITERAL_(expected)>::Compare, \
+ expected, actual)
+#define GTEST_ASSERT_NE(val1, val2) \
+ ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperNE, val1, val2)
+#define GTEST_ASSERT_LE(val1, val2) \
+ ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperLE, val1, val2)
+#define GTEST_ASSERT_LT(val1, val2) \
+ ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperLT, val1, val2)
+#define GTEST_ASSERT_GE(val1, val2) \
+ ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperGE, val1, val2)
+#define GTEST_ASSERT_GT(val1, val2) \
+ ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperGT, val1, val2)
+
+// Define macro GTEST_DONT_DEFINE_ASSERT_XY to 1 to omit the definition of
+// ASSERT_XY(), which clashes with some users' own code.
+
+#if !GTEST_DONT_DEFINE_ASSERT_EQ
+# define ASSERT_EQ(val1, val2) GTEST_ASSERT_EQ(val1, val2)
+#endif
+
+#if !GTEST_DONT_DEFINE_ASSERT_NE
+# define ASSERT_NE(val1, val2) GTEST_ASSERT_NE(val1, val2)
+#endif
+
+#if !GTEST_DONT_DEFINE_ASSERT_LE
+# define ASSERT_LE(val1, val2) GTEST_ASSERT_LE(val1, val2)
+#endif
+
+#if !GTEST_DONT_DEFINE_ASSERT_LT
+# define ASSERT_LT(val1, val2) GTEST_ASSERT_LT(val1, val2)
+#endif
+
+#if !GTEST_DONT_DEFINE_ASSERT_GE
+# define ASSERT_GE(val1, val2) GTEST_ASSERT_GE(val1, val2)
+#endif
+
+#if !GTEST_DONT_DEFINE_ASSERT_GT
+# define ASSERT_GT(val1, val2) GTEST_ASSERT_GT(val1, val2)
+#endif
+
+// C String Comparisons. All tests treat NULL and any non-NULL string
+// as different. Two NULLs are equal.
+//
+// * {ASSERT|EXPECT}_STREQ(s1, s2): Tests that s1 == s2
+// * {ASSERT|EXPECT}_STRNE(s1, s2): Tests that s1 != s2
+// * {ASSERT|EXPECT}_STRCASEEQ(s1, s2): Tests that s1 == s2, ignoring case
+// * {ASSERT|EXPECT}_STRCASENE(s1, s2): Tests that s1 != s2, ignoring case
+//
+// For wide or narrow string objects, you can use the
+// {ASSERT|EXPECT}_??() macros.
+//
+// Don't depend on the order in which the arguments are evaluated,
+// which is undefined.
+//
+// These macros evaluate their arguments exactly once.
+
+#define EXPECT_STREQ(expected, actual) \
+ EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperSTREQ, expected, actual)
+#define EXPECT_STRNE(s1, s2) \
+ EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperSTRNE, s1, s2)
+#define EXPECT_STRCASEEQ(expected, actual) \
+ EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperSTRCASEEQ, expected, actual)
+#define EXPECT_STRCASENE(s1, s2)\
+ EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperSTRCASENE, s1, s2)
+
+#define ASSERT_STREQ(expected, actual) \
+ ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperSTREQ, expected, actual)
+#define ASSERT_STRNE(s1, s2) \
+ ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperSTRNE, s1, s2)
+#define ASSERT_STRCASEEQ(expected, actual) \
+ ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperSTRCASEEQ, expected, actual)
+#define ASSERT_STRCASENE(s1, s2)\
+ ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperSTRCASENE, s1, s2)
+
+// Macros for comparing floating-point numbers.
+//
+// * {ASSERT|EXPECT}_FLOAT_EQ(expected, actual):
+// Tests that two float values are almost equal.
+// * {ASSERT|EXPECT}_DOUBLE_EQ(expected, actual):
+// Tests that two double values are almost equal.
+// * {ASSERT|EXPECT}_NEAR(v1, v2, abs_error):
+// Tests that v1 and v2 are within the given distance to each other.
+//
+// Google Test uses ULP-based comparison to automatically pick a default
+// error bound that is appropriate for the operands. See the
+// FloatingPoint template class in gtest-internal.h if you are
+// interested in the implementation details.
+
+#define EXPECT_FLOAT_EQ(expected, actual)\
+ EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperFloatingPointEQ<float>, \
+ expected, actual)
+
+#define EXPECT_DOUBLE_EQ(expected, actual)\
+ EXPECT_PRED_FORMAT2(::testing::internal::CmpHelperFloatingPointEQ<double>, \
+ expected, actual)
+
+#define ASSERT_FLOAT_EQ(expected, actual)\
+ ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperFloatingPointEQ<float>, \
+ expected, actual)
+
+#define ASSERT_DOUBLE_EQ(expected, actual)\
+ ASSERT_PRED_FORMAT2(::testing::internal::CmpHelperFloatingPointEQ<double>, \
+ expected, actual)
+
+#define EXPECT_NEAR(val1, val2, abs_error)\
+ EXPECT_PRED_FORMAT3(::testing::internal::DoubleNearPredFormat, \
+ val1, val2, abs_error)
+
+#define ASSERT_NEAR(val1, val2, abs_error)\
+ ASSERT_PRED_FORMAT3(::testing::internal::DoubleNearPredFormat, \
+ val1, val2, abs_error)
+
+// These predicate format functions work on floating-point values, and
+// can be used in {ASSERT|EXPECT}_PRED_FORMAT2*(), e.g.
+//
+// EXPECT_PRED_FORMAT2(testing::DoubleLE, Foo(), 5.0);
+
+// Asserts that val1 is less than, or almost equal to, val2. Fails
+// otherwise. In particular, it fails if either val1 or val2 is NaN.
+GTEST_API_ AssertionResult FloatLE(const char* expr1, const char* expr2,
+ float val1, float val2);
+GTEST_API_ AssertionResult DoubleLE(const char* expr1, const char* expr2,
+ double val1, double val2);
+
+
+#if GTEST_OS_WINDOWS
+
+// Macros that test for HRESULT failure and success, these are only useful
+// on Windows, and rely on Windows SDK macros and APIs to compile.
+//
+// * {ASSERT|EXPECT}_HRESULT_{SUCCEEDED|FAILED}(expr)
+//
+// When expr unexpectedly fails or succeeds, Google Test prints the
+// expected result and the actual result with both a human-readable
+// string representation of the error, if available, as well as the
+// hex result code.
+# define EXPECT_HRESULT_SUCCEEDED(expr) \
+ EXPECT_PRED_FORMAT1(::testing::internal::IsHRESULTSuccess, (expr))
+
+# define ASSERT_HRESULT_SUCCEEDED(expr) \
+ ASSERT_PRED_FORMAT1(::testing::internal::IsHRESULTSuccess, (expr))
+
+# define EXPECT_HRESULT_FAILED(expr) \
+ EXPECT_PRED_FORMAT1(::testing::internal::IsHRESULTFailure, (expr))
+
+# define ASSERT_HRESULT_FAILED(expr) \
+ ASSERT_PRED_FORMAT1(::testing::internal::IsHRESULTFailure, (expr))
+
+#endif // GTEST_OS_WINDOWS
+
+// Macros that execute statement and check that it doesn't generate new fatal
+// failures in the current thread.
+//
+// * {ASSERT|EXPECT}_NO_FATAL_FAILURE(statement);
+//
+// Examples:
+//
+// EXPECT_NO_FATAL_FAILURE(Process());
+// ASSERT_NO_FATAL_FAILURE(Process()) << "Process() failed";
+//
+#define ASSERT_NO_FATAL_FAILURE(statement) \
+ GTEST_TEST_NO_FATAL_FAILURE_(statement, GTEST_FATAL_FAILURE_)
+#define EXPECT_NO_FATAL_FAILURE(statement) \
+ GTEST_TEST_NO_FATAL_FAILURE_(statement, GTEST_NONFATAL_FAILURE_)
+
+// Causes a trace (including the source file path, the current line
+// number, and the given message) to be included in every test failure
+// message generated by code in the current scope. The effect is
+// undone when the control leaves the current scope.
+//
+// The message argument can be anything streamable to std::ostream.
+//
+// In the implementation, we include the current line number as part
+// of the dummy variable name, thus allowing multiple SCOPED_TRACE()s
+// to appear in the same block - as long as they are on different
+// lines.
+#define SCOPED_TRACE(message) \
+ ::testing::internal::ScopedTrace GTEST_CONCAT_TOKEN_(gtest_trace_, __LINE__)(\
+ __FILE__, __LINE__, ::testing::Message() << (message))
+
+// Compile-time assertion for type equality.
+// StaticAssertTypeEq<type1, type2>() compiles iff type1 and type2 are
+// the same type. The value it returns is not interesting.
+//
+// Instead of making StaticAssertTypeEq a class template, we make it a
+// function template that invokes a helper class template. This
+// prevents a user from misusing StaticAssertTypeEq<T1, T2> by
+// defining objects of that type.
+//
+// CAVEAT:
+//
+// When used inside a method of a class template,
+// StaticAssertTypeEq<T1, T2>() is effective ONLY IF the method is
+// instantiated. For example, given:
+//
+// template <typename T> class Foo {
+// public:
+// void Bar() { testing::StaticAssertTypeEq<int, T>(); }
+// };
+//
+// the code:
+//
+// void Test1() { Foo<bool> foo; }
+//
+// will NOT generate a compiler error, as Foo<bool>::Bar() is never
+// actually instantiated. Instead, you need:
+//
+// void Test2() { Foo<bool> foo; foo.Bar(); }
+//
+// to cause a compiler error.
+template <typename T1, typename T2>
+bool StaticAssertTypeEq() {
+ (void)internal::StaticAssertTypeEqHelper<T1, T2>();
+ return true;
+}
+
+// Defines a test.
+//
+// The first parameter is the name of the test case, and the second
+// parameter is the name of the test within the test case.
+//
+// The convention is to end the test case name with "Test". For
+// example, a test case for the Foo class can be named FooTest.
+//
+// The user should put his test code between braces after using this
+// macro. Example:
+//
+// TEST(FooTest, InitializesCorrectly) {
+// Foo foo;
+// EXPECT_TRUE(foo.StatusIsOK());
+// }
+
+// Note that we call GetTestTypeId() instead of GetTypeId<
+// ::testing::Test>() here to get the type ID of testing::Test. This
+// is to work around a suspected linker bug when using Google Test as
+// a framework on Mac OS X. The bug causes GetTypeId<
+// ::testing::Test>() to return different values depending on whether
+// the call is from the Google Test framework itself or from user test
+// code. GetTestTypeId() is guaranteed to always return the same
+// value, as it always calls GetTypeId<>() from the Google Test
+// framework.
+#define GTEST_TEST(test_case_name, test_name)\
+ GTEST_TEST_(test_case_name, test_name, \
+ ::testing::Test, ::testing::internal::GetTestTypeId())
+
+// Define this macro to 1 to omit the definition of TEST(), which
+// is a generic name and clashes with some other libraries.
+#if !GTEST_DONT_DEFINE_TEST
+# define TEST(test_case_name, test_name) GTEST_TEST(test_case_name, test_name)
+#endif
+
+// Defines a test that uses a test fixture.
+//
+// The first parameter is the name of the test fixture class, which
+// also doubles as the test case name. The second parameter is the
+// name of the test within the test case.
+//
+// A test fixture class must be declared earlier. The user should put
+// his test code between braces after using this macro. Example:
+//
+// class FooTest : public testing::Test {
+// protected:
+// virtual void SetUp() { b_.AddElement(3); }
+//
+// Foo a_;
+// Foo b_;
+// };
+//
+// TEST_F(FooTest, InitializesCorrectly) {
+// EXPECT_TRUE(a_.StatusIsOK());
+// }
+//
+// TEST_F(FooTest, ReturnsElementCountCorrectly) {
+// EXPECT_EQ(0, a_.size());
+// EXPECT_EQ(1, b_.size());
+// }
+
+#define TEST_F(test_fixture, test_name)\
+ GTEST_TEST_(test_fixture, test_name, test_fixture, \
+ ::testing::internal::GetTypeId<test_fixture>())
+
+// Use this macro in main() to run all tests. It returns 0 if all
+// tests are successful, or 1 otherwise.
+//
+// RUN_ALL_TESTS() should be invoked after the command line has been
+// parsed by InitGoogleTest().
+
+#define RUN_ALL_TESTS()\
+ (::testing::UnitTest::GetInstance()->Run())
+
+} // namespace testing
+
+#endif // GTEST_INCLUDE_GTEST_GTEST_H_
diff --git a/internal/ceres/implicit_schur_complement.cc b/internal/ceres/implicit_schur_complement.cc
new file mode 100644
index 0000000..4af030a
--- /dev/null
+++ b/internal/ceres/implicit_schur_complement.cc
@@ -0,0 +1,228 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/implicit_schur_complement.h"
+
+#include "Eigen/Dense"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/block_structure.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+ImplicitSchurComplement::ImplicitSchurComplement(int num_eliminate_blocks,
+ bool preconditioner)
+ : num_eliminate_blocks_(num_eliminate_blocks),
+ preconditioner_(preconditioner),
+ A_(NULL),
+ D_(NULL),
+ b_(NULL),
+ block_diagonal_EtE_inverse_(NULL),
+ block_diagonal_FtF_inverse_(NULL) {
+}
+
+ImplicitSchurComplement::~ImplicitSchurComplement() {
+}
+
+void ImplicitSchurComplement::Init(const BlockSparseMatrixBase& A,
+ const double* D,
+ const double* b) {
+ // Since initialization is reasonably heavy, perhaps we can save on
+ // constructing a new object everytime.
+ if (A_ == NULL) {
+ A_.reset(new PartitionedMatrixView(A, num_eliminate_blocks_));
+ }
+
+ D_ = D;
+ b_ = b;
+
+ // Initialize temporary storage and compute the block diagonals of
+ // E'E and F'E.
+ if (block_diagonal_EtE_inverse_ == NULL) {
+ block_diagonal_EtE_inverse_.reset(A_->CreateBlockDiagonalEtE());
+ if (preconditioner_) {
+ block_diagonal_FtF_inverse_.reset(A_->CreateBlockDiagonalFtF());
+ }
+ rhs_.resize(A_->num_cols_f());
+ rhs_.setZero();
+ tmp_rows_.resize(A_->num_rows());
+ tmp_e_cols_.resize(A_->num_cols_e());
+ tmp_e_cols_2_.resize(A_->num_cols_e());
+ tmp_f_cols_.resize(A_->num_cols_f());
+ } else {
+ A_->UpdateBlockDiagonalEtE(block_diagonal_EtE_inverse_.get());
+ if (preconditioner_) {
+ A_->UpdateBlockDiagonalFtF(block_diagonal_FtF_inverse_.get());
+ }
+ }
+
+ // The block diagonals of the augmented linear system contain
+ // contributions from the diagonal D if it is non-null. Add that to
+ // the block diagonals and invert them.
+ AddDiagonalAndInvert(D_, block_diagonal_EtE_inverse_.get());
+ if (preconditioner_) {
+ AddDiagonalAndInvert((D_ == NULL) ? NULL : D_ + A_->num_cols_e(),
+ block_diagonal_FtF_inverse_.get());
+ }
+
+ // Compute the RHS of the Schur complement system.
+ UpdateRhs();
+}
+
+// Evaluate the product
+//
+// Sx = [F'F - F'E (E'E)^-1 E'F]x
+//
+// By breaking it down into individual matrix vector products
+// involving the matrices E and F. This is implemented using a
+// PartitionedMatrixView of the input matrix A.
+void ImplicitSchurComplement::RightMultiply(const double* x, double* y) const {
+ // y1 = F x
+ tmp_rows_.setZero();
+ A_->RightMultiplyF(x, tmp_rows_.data());
+
+ // y2 = E' y1
+ tmp_e_cols_.setZero();
+ A_->LeftMultiplyE(tmp_rows_.data(), tmp_e_cols_.data());
+
+ // y3 = -(E'E)^-1 y2
+ tmp_e_cols_2_.setZero();
+ block_diagonal_EtE_inverse_->RightMultiply(tmp_e_cols_.data(),
+ tmp_e_cols_2_.data());
+ tmp_e_cols_2_ *= -1.0;
+
+ // y1 = y1 + E y3
+ A_->RightMultiplyE(tmp_e_cols_2_.data(), tmp_rows_.data());
+
+ // y5 = D * x
+ if (D_ != NULL) {
+ ConstVectorRef Dref(D_ + A_->num_cols_e(), num_cols());
+ VectorRef(y, num_cols()) =
+ (Dref.array().square() *
+ ConstVectorRef(x, num_cols()).array()).matrix();
+ } else {
+ VectorRef(y, num_cols()).setZero();
+ }
+
+ // y = y5 + F' y1
+ A_->LeftMultiplyF(tmp_rows_.data(), y);
+}
+
+// Given a block diagonal matrix and an optional array of diagonal
+// entries D, add them to the diagonal of the matrix and compute the
+// inverse of each diagonal block.
+void ImplicitSchurComplement::AddDiagonalAndInvert(
+ const double* D,
+ BlockSparseMatrix* block_diagonal) {
+ const CompressedRowBlockStructure* block_diagonal_structure =
+ block_diagonal->block_structure();
+ for (int r = 0; r < block_diagonal_structure->rows.size(); ++r) {
+ const int row_block_pos = block_diagonal_structure->rows[r].block.position;
+ const int row_block_size = block_diagonal_structure->rows[r].block.size;
+ const Cell& cell = block_diagonal_structure->rows[r].cells[0];
+ MatrixRef m(block_diagonal->mutable_values() + cell.position,
+ row_block_size, row_block_size);
+
+ if (D != NULL) {
+ ConstVectorRef d(D + row_block_pos, row_block_size);
+ m += d.array().square().matrix().asDiagonal();
+ }
+
+ m = m
+ .selfadjointView<Eigen::Upper>()
+ .ldlt()
+ .solve(Matrix::Identity(row_block_size, row_block_size));
+ }
+}
+
+// Similar to RightMultiply, use the block structure of the matrix A
+// to compute y = (E'E)^-1 (E'b - E'F x).
+void ImplicitSchurComplement::BackSubstitute(const double* x, double* y) {
+ const int num_cols_e = A_->num_cols_e();
+ const int num_cols_f = A_->num_cols_f();
+ const int num_cols = A_->num_cols();
+ const int num_rows = A_->num_rows();
+
+ // y1 = F x
+ tmp_rows_.setZero();
+ A_->RightMultiplyF(x, tmp_rows_.data());
+
+ // y2 = b - y1
+ tmp_rows_ = ConstVectorRef(b_, num_rows) - tmp_rows_;
+
+ // y3 = E' y2
+ tmp_e_cols_.setZero();
+ A_->LeftMultiplyE(tmp_rows_.data(), tmp_e_cols_.data());
+
+ // y = (E'E)^-1 y3
+ VectorRef(y, num_cols).setZero();
+ block_diagonal_EtE_inverse_->RightMultiply(tmp_e_cols_.data(), y);
+
+ // The full solution vector y has two blocks. The first block of
+ // variables corresponds to the eliminated variables, which we just
+ // computed via back substitution. The second block of variables
+ // corresponds to the Schur complement system, so we just copy those
+ // values from the solution to the Schur complement.
+ VectorRef(y + num_cols_e, num_cols_f) = ConstVectorRef(x, num_cols_f);
+}
+
+// Compute the RHS of the Schur complement system.
+//
+// rhs = F'b - F'E (E'E)^-1 E'b
+//
+// Like BackSubstitute, we use the block structure of A to implement
+// this using a series of matrix vector products.
+void ImplicitSchurComplement::UpdateRhs() {
+ // y1 = E'b
+ tmp_e_cols_.setZero();
+ A_->LeftMultiplyE(b_, tmp_e_cols_.data());
+
+ // y2 = (E'E)^-1 y1
+ Vector y2 = Vector::Zero(A_->num_cols_e());
+ block_diagonal_EtE_inverse_->RightMultiply(tmp_e_cols_.data(), y2.data());
+
+ // y3 = E y2
+ tmp_rows_.setZero();
+ A_->RightMultiplyE(y2.data(), tmp_rows_.data());
+
+ // y3 = b - y3
+ tmp_rows_ = ConstVectorRef(b_, A_->num_rows()) - tmp_rows_;
+
+ // rhs = F' y3
+ rhs_.setZero();
+ A_->LeftMultiplyF(tmp_rows_.data(), rhs_.data());
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/implicit_schur_complement.h b/internal/ceres/implicit_schur_complement.h
new file mode 100644
index 0000000..b9ebaa4
--- /dev/null
+++ b/internal/ceres/implicit_schur_complement.h
@@ -0,0 +1,168 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// An iterative solver for solving the Schur complement/reduced camera
+// linear system that arise in SfM problems.
+
+#ifndef CERES_INTERNAL_IMPLICIT_SCHUR_COMPLEMENT_H_
+#define CERES_INTERNAL_IMPLICIT_SCHUR_COMPLEMENT_H_
+
+#include "ceres/linear_operator.h"
+#include "ceres/partitioned_matrix_view.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+class BlockSparseMatrix;
+class BlockSparseMatrixBase;
+
+// This class implements various linear algebraic operations related
+// to the Schur complement without explicitly forming it.
+//
+//
+// Given a reactangular linear system Ax = b, where
+//
+// A = [E F]
+//
+// The normal equations are given by
+//
+// A'Ax = A'b
+//
+// |E'E E'F||y| = |E'b|
+// |F'E F'F||z| |F'b|
+//
+// and the Schur complement system is given by
+//
+// [F'F - F'E (E'E)^-1 E'F] z = F'b - F'E (E'E)^-1 E'b
+//
+// Now if we wish to solve Ax = b in the least squares sense, one way
+// is to form this Schur complement system and solve it using
+// Preconditioned Conjugate Gradients.
+//
+// The key operation in a conjugate gradient solver is the evaluation of the
+// matrix vector product with the Schur complement
+//
+// S = F'F - F'E (E'E)^-1 E'F
+//
+// It is straightforward to see that matrix vector products with S can
+// be evaluated without storing S in memory. Instead, given (E'E)^-1
+// (which for our purposes is an easily inverted block diagonal
+// matrix), it can be done in terms of matrix vector products with E,
+// F and (E'E)^-1. This class implements this functionality and other
+// auxilliary bits needed to implement a CG solver on the Schur
+// complement using the PartitionedMatrixView object.
+//
+// THREAD SAFETY: This class is nqot thread safe. In particular, the
+// RightMultiply (and the LeftMultiply) methods are not thread safe as
+// they depend on mutable arrays used for the temporaries needed to
+// compute the product y += Sx;
+class ImplicitSchurComplement : public LinearOperator {
+ public:
+ // num_eliminate_blocks is the number of E blocks in the matrix
+ // A.
+ //
+ // preconditioner indicates whether the inverse of the matrix F'F
+ // should be computed or not as a preconditioner for the Schur
+ // Complement.
+ //
+ // TODO(sameeragarwal): Get rid of the two bools below and replace
+ // them with enums.
+ ImplicitSchurComplement(int num_eliminate_blocks, bool preconditioner);
+ virtual ~ImplicitSchurComplement();
+
+ // Initialize the Schur complement for a linear least squares
+ // problem of the form
+ //
+ // |A | x = |b|
+ // |diag(D)| |0|
+ //
+ // If D is null, then it is treated as a zero dimensional matrix. It
+ // is important that the matrix A have a BlockStructure object
+ // associated with it and has a block structure that is compatible
+ // with the SchurComplement solver.
+ void Init(const BlockSparseMatrixBase& A, const double* D, const double* b);
+
+ // y += Sx, where S is the Schur complement.
+ virtual void RightMultiply(const double* x, double* y) const;
+
+ // The Schur complement is a symmetric positive definite matrix,
+ // thus the left and right multiply operators are the same.
+ virtual void LeftMultiply(const double* x, double* y) const {
+ RightMultiply(x, y);
+ }
+
+ // y = (E'E)^-1 (E'b - E'F x). Given an estimate of the solution to
+ // the Schur complement system, this method computes the value of
+ // the e_block variables that were eliminated to form the Schur
+ // complement.
+ void BackSubstitute(const double* x, double* y);
+
+ virtual int num_rows() const { return A_->num_cols_f(); }
+ virtual int num_cols() const { return A_->num_cols_f(); }
+ const Vector& rhs() const { return rhs_; }
+
+ const BlockSparseMatrix* block_diagonal_EtE_inverse() const {
+ return block_diagonal_EtE_inverse_.get();
+ }
+
+ const BlockSparseMatrix* block_diagonal_FtF_inverse() const {
+ return block_diagonal_FtF_inverse_.get();
+ }
+
+ private:
+ void AddDiagonalAndInvert(const double* D, BlockSparseMatrix* matrix);
+ void UpdateRhs();
+
+ int num_eliminate_blocks_;
+ bool preconditioner_;
+
+ scoped_ptr<PartitionedMatrixView> A_;
+ const double* D_;
+ const double* b_;
+
+ scoped_ptr<BlockSparseMatrix> block_diagonal_EtE_inverse_;
+ scoped_ptr<BlockSparseMatrix> block_diagonal_FtF_inverse_;
+
+ Vector rhs_;
+
+ // Temporary storage vectors used to implement RightMultiply.
+ mutable Vector tmp_rows_;
+ mutable Vector tmp_e_cols_;
+ mutable Vector tmp_e_cols_2_;
+ mutable Vector tmp_f_cols_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_IMPLICIT_SCHUR_COMPLEMENT_H_
diff --git a/internal/ceres/implicit_schur_complement_test.cc b/internal/ceres/implicit_schur_complement_test.cc
new file mode 100644
index 0000000..bd36672
--- /dev/null
+++ b/internal/ceres/implicit_schur_complement_test.cc
@@ -0,0 +1,196 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/implicit_schur_complement.h"
+
+#include <cstddef>
+#include "Eigen/Dense"
+#include "ceres/block_random_access_dense_matrix.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/casts.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/linear_solver.h"
+#include "ceres/schur_eliminator.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using testing::AssertionResult;
+
+const double kEpsilon = 1e-14;
+
+class ImplicitSchurComplementTest : public ::testing::Test {
+ protected :
+ virtual void SetUp() {
+ scoped_ptr<LinearLeastSquaresProblem> problem(
+ CreateLinearLeastSquaresProblemFromId(2));
+
+ CHECK_NOTNULL(problem.get());
+ A_.reset(down_cast<BlockSparseMatrix*>(problem->A.release()));
+ b_.reset(problem->b.release());
+ D_.reset(problem->D.release());
+
+ num_cols_ = A_->num_cols();
+ num_rows_ = A_->num_rows();
+ num_eliminate_blocks_ = problem->num_eliminate_blocks;
+ }
+
+ void ReducedLinearSystemAndSolution(double* D,
+ Matrix* lhs,
+ Vector* rhs,
+ Vector* solution) {
+ const CompressedRowBlockStructure* bs = A_->block_structure();
+ const int num_col_blocks = bs->cols.size();
+ vector<int> blocks(num_col_blocks - num_eliminate_blocks_, 0);
+ for (int i = num_eliminate_blocks_; i < num_col_blocks; ++i) {
+ blocks[i - num_eliminate_blocks_] = bs->cols[i].size;
+ }
+
+ BlockRandomAccessDenseMatrix blhs(blocks);
+ const int num_schur_rows = blhs.num_rows();
+
+ LinearSolver::Options options;
+ options.elimination_groups.push_back(num_eliminate_blocks_);
+ options.type = DENSE_SCHUR;
+
+ scoped_ptr<SchurEliminatorBase> eliminator(
+ SchurEliminatorBase::Create(options));
+ CHECK_NOTNULL(eliminator.get());
+ eliminator->Init(num_eliminate_blocks_, bs);
+
+ lhs->resize(num_schur_rows, num_schur_rows);
+ rhs->resize(num_schur_rows);
+
+ eliminator->Eliminate(A_.get(), b_.get(), D, &blhs, rhs->data());
+
+ MatrixRef lhs_ref(blhs.mutable_values(), num_schur_rows, num_schur_rows);
+
+ // lhs_ref is an upper triangular matrix. Construct a full version
+ // of lhs_ref in lhs by transposing lhs_ref, choosing the strictly
+ // lower triangular part of the matrix and adding it to lhs_ref.
+ *lhs = lhs_ref;
+ lhs->triangularView<Eigen::StrictlyLower>() =
+ lhs_ref.triangularView<Eigen::StrictlyUpper>().transpose();
+
+ solution->resize(num_cols_);
+ solution->setZero();
+ VectorRef schur_solution(solution->data() + num_cols_ - num_schur_rows,
+ num_schur_rows);
+ schur_solution = lhs->selfadjointView<Eigen::Upper>().ldlt().solve(*rhs);
+ eliminator->BackSubstitute(A_.get(), b_.get(), D,
+ schur_solution.data(), solution->data());
+ }
+
+ AssertionResult TestImplicitSchurComplement(double* D) {
+ Matrix lhs;
+ Vector rhs;
+ Vector reference_solution;
+ ReducedLinearSystemAndSolution(D, &lhs, &rhs, &reference_solution);
+
+ ImplicitSchurComplement isc(num_eliminate_blocks_, true);
+ isc.Init(*A_, D, b_.get());
+
+ int num_sc_cols = lhs.cols();
+
+ for (int i = 0; i < num_sc_cols; ++i) {
+ Vector x(num_sc_cols);
+ x.setZero();
+ x(i) = 1.0;
+
+ Vector y(num_sc_cols);
+ y = lhs * x;
+
+ Vector z(num_sc_cols);
+ isc.RightMultiply(x.data(), z.data());
+
+ // The i^th column of the implicit schur complement is the same as
+ // the explicit schur complement.
+ if ((y - z).norm() > kEpsilon) {
+ return testing::AssertionFailure()
+ << "Explicit and Implicit SchurComplements differ in "
+ << "column " << i << ". explicit: " << y.transpose()
+ << " implicit: " << z.transpose();
+ }
+ }
+
+ // Compare the rhs of the reduced linear system
+ if ((isc.rhs() - rhs).norm() > kEpsilon) {
+ return testing::AssertionFailure()
+ << "Explicit and Implicit SchurComplements differ in "
+ << "rhs. explicit: " << rhs.transpose()
+ << " implicit: " << isc.rhs().transpose();
+ }
+
+ // Reference solution to the f_block.
+ const Vector reference_f_sol =
+ lhs.selfadjointView<Eigen::Upper>().ldlt().solve(rhs);
+
+ // Backsubstituted solution from the implicit schur solver using the
+ // reference solution to the f_block.
+ Vector sol(num_cols_);
+ isc.BackSubstitute(reference_f_sol.data(), sol.data());
+ if ((sol - reference_solution).norm() > kEpsilon) {
+ return testing::AssertionFailure()
+ << "Explicit and Implicit SchurComplements solutions differ. "
+ << "explicit: " << reference_solution.transpose()
+ << " implicit: " << sol.transpose();
+ }
+
+ return testing::AssertionSuccess();
+ }
+
+ int num_rows_;
+ int num_cols_;
+ int num_eliminate_blocks_;
+
+ scoped_ptr<BlockSparseMatrix> A_;
+ scoped_array<double> b_;
+ scoped_array<double> D_;
+};
+
+// Verify that the Schur Complement matrix implied by the
+// ImplicitSchurComplement class matches the one explicitly computed
+// by the SchurComplement solver.
+//
+// We do this with and without regularization to check that the
+// support for the LM diagonal is correct.
+TEST_F(ImplicitSchurComplementTest, SchurMatrixValuesTest) {
+ EXPECT_TRUE(TestImplicitSchurComplement(NULL));
+ EXPECT_TRUE(TestImplicitSchurComplement(D_.get()));
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/integral_types.h b/internal/ceres/integral_types.h
new file mode 100644
index 0000000..01e0493
--- /dev/null
+++ b/internal/ceres/integral_types.h
@@ -0,0 +1,92 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// Portable typedefs for various fixed-size integers. Uses template
+// metaprogramming instead of fragile compiler defines.
+
+#ifndef CERES_INTERNAL_INTEGRAL_TYPES_H_
+#define CERES_INTERNAL_INTEGRAL_TYPES_H_
+
+namespace ceres {
+namespace internal {
+
+// Compile time ternary on types.
+template<bool kCondition, typename kTrueType, typename kFalseType>
+struct Ternary {
+ typedef kTrueType type;
+};
+template<typename kTrueType, typename kFalseType>
+struct Ternary<false, kTrueType, kFalseType> {
+ typedef kFalseType type;
+};
+
+#define CERES_INTSIZE(TYPE) \
+ typename Ternary<sizeof(TYPE) * 8 == kBits, TYPE,
+
+template<int kBits>
+struct Integer {
+ typedef
+ CERES_INTSIZE(char)
+ CERES_INTSIZE(short)
+ CERES_INTSIZE(int)
+ CERES_INTSIZE(long int)
+ CERES_INTSIZE(long long)
+ void>::type >::type >::type >::type >::type
+ type;
+};
+
+template<int kBits>
+struct UnsignedInteger {
+ typedef
+ CERES_INTSIZE(unsigned char)
+ CERES_INTSIZE(unsigned short)
+ CERES_INTSIZE(unsigned int)
+ CERES_INTSIZE(unsigned long int)
+ CERES_INTSIZE(unsigned long long)
+ void>::type >::type >::type >::type >::type
+ type;
+};
+
+#undef CERES_INTSIZE
+
+typedef Integer< 8>::type int8;
+typedef Integer<16>::type int16;
+typedef Integer<32>::type int32;
+typedef Integer<64>::type int64;
+
+typedef UnsignedInteger< 8>::type uint8;
+typedef UnsignedInteger<16>::type uint16;
+typedef UnsignedInteger<32>::type uint32;
+typedef UnsignedInteger<64>::type uint64;
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_INTEGRAL_TYPES_H_
diff --git a/internal/ceres/iterative_schur_complement_solver.cc b/internal/ceres/iterative_schur_complement_solver.cc
new file mode 100644
index 0000000..376a586
--- /dev/null
+++ b/internal/ceres/iterative_schur_complement_solver.cc
@@ -0,0 +1,145 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/iterative_schur_complement_solver.h"
+
+#include <algorithm>
+#include <cstring>
+#include <vector>
+#include "Eigen/Dense"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/block_structure.h"
+#include "ceres/conjugate_gradients_solver.h"
+#include "ceres/implicit_schur_complement.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_solver.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "ceres/visibility_based_preconditioner.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+IterativeSchurComplementSolver::IterativeSchurComplementSolver(
+ const LinearSolver::Options& options)
+ : options_(options) {
+}
+
+IterativeSchurComplementSolver::~IterativeSchurComplementSolver() {
+}
+
+LinearSolver::Summary IterativeSchurComplementSolver::SolveImpl(
+ BlockSparseMatrixBase* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x) {
+ CHECK_NOTNULL(A->block_structure());
+
+ // Initialize a ImplicitSchurComplement object.
+ if (schur_complement_ == NULL) {
+ schur_complement_.reset(
+ new ImplicitSchurComplement(options_.elimination_groups[0],
+ options_.preconditioner_type == JACOBI));
+ }
+ schur_complement_->Init(*A, per_solve_options.D, b);
+
+ // Initialize the solution to the Schur complement system to zero.
+ //
+ // TODO(sameeragarwal): There maybe a better initialization than an
+ // all zeros solution. Explore other cheap starting points.
+ reduced_linear_system_solution_.resize(schur_complement_->num_rows());
+ reduced_linear_system_solution_.setZero();
+
+ // Instantiate a conjugate gradient solver that runs on the Schur complement
+ // matrix with the block diagonal of the matrix F'F as the preconditioner.
+ LinearSolver::Options cg_options;
+ cg_options.max_num_iterations = options_.max_num_iterations;
+ ConjugateGradientsSolver cg_solver(cg_options);
+ LinearSolver::PerSolveOptions cg_per_solve_options;
+
+ cg_per_solve_options.r_tolerance = per_solve_options.r_tolerance;
+ cg_per_solve_options.q_tolerance = per_solve_options.q_tolerance;
+
+ bool is_preconditioner_good = false;
+ switch (options_.preconditioner_type) {
+ case IDENTITY:
+ is_preconditioner_good = true;
+ break;
+ case JACOBI:
+ // We need to strip the constness of the block_diagonal_FtF_inverse
+ // matrix here because the only other way to initialize the struct
+ // cg_solve_options would be to add a constructor to it. We know
+ // that the only method ever called on the preconditioner is the
+ // RightMultiply which is a const method so we don't need to worry
+ // about the object getting modified.
+ cg_per_solve_options.preconditioner =
+ const_cast<BlockSparseMatrix*>(
+ schur_complement_->block_diagonal_FtF_inverse());
+ is_preconditioner_good = true;
+ break;
+ case SCHUR_JACOBI:
+ case CLUSTER_JACOBI:
+ case CLUSTER_TRIDIAGONAL:
+ if (visibility_based_preconditioner_.get() == NULL) {
+ visibility_based_preconditioner_.reset(
+ new VisibilityBasedPreconditioner(*A->block_structure(), options_));
+ }
+ is_preconditioner_good =
+ visibility_based_preconditioner_->Update(*A, per_solve_options.D);
+ cg_per_solve_options.preconditioner =
+ visibility_based_preconditioner_.get();
+ break;
+ default:
+ LOG(FATAL) << "Unknown Preconditioner Type";
+ }
+
+ LinearSolver::Summary cg_summary;
+ cg_summary.num_iterations = 0;
+ cg_summary.termination_type = FAILURE;
+
+ if (is_preconditioner_good) {
+ cg_summary = cg_solver.Solve(schur_complement_.get(),
+ schur_complement_->rhs().data(),
+ cg_per_solve_options,
+ reduced_linear_system_solution_.data());
+ if (cg_summary.termination_type != FAILURE) {
+ schur_complement_->BackSubstitute(
+ reduced_linear_system_solution_.data(), x);
+ }
+ }
+
+ VLOG(2) << "CG Iterations : " << cg_summary.num_iterations;
+ return cg_summary;
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/iterative_schur_complement_solver.h b/internal/ceres/iterative_schur_complement_solver.h
new file mode 100644
index 0000000..cfeb65e
--- /dev/null
+++ b/internal/ceres/iterative_schur_complement_solver.h
@@ -0,0 +1,94 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_ITERATIVE_SCHUR_COMPLEMENT_SOLVER_H_
+#define CERES_INTERNAL_ITERATIVE_SCHUR_COMPLEMENT_SOLVER_H_
+
+#include "ceres/linear_solver.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+class BlockSparseMatrix;
+class BlockSparseMatrixBase;
+class ImplicitSchurComplement;
+class VisibilityBasedPreconditioner;
+
+// This class implements an iterative solver for the linear least
+// squares problems that have a bi-partitte sparsity structure common
+// to Structure from Motion problems.
+//
+// The algorithm used by this solver was developed in a series of
+// papers - "Agarwal et al, Bundle Adjustment in the Large, ECCV 2010"
+// and "Wu et al, Multicore Bundle Adjustment, submitted to CVPR
+// 2011" at the Univeristy of Washington.
+//
+// The key idea is that one can run Conjugate Gradients on the Schur
+// Complement system without explicitly forming the Schur Complement
+// in memory. The heavy lifting for this is done by the
+// ImplicitSchurComplement class. Not forming the Schur complement in
+// memory and factoring it results in substantial savings in time and
+// memory. Further, iterative solvers like this open up the
+// possibility of solving the Newton equations in a non-linear solver
+// only approximately and terminating early, thereby saving even more
+// time.
+//
+// For the curious, running CG on the Schur complement is the same as
+// running CG on the Normal Equations with an SSOR preconditioner. For
+// a proof of this fact and others related to this solver please see
+// the section on Domain Decomposition Methods in Saad's book
+// "Iterative Methods for Sparse Linear Systems".
+class IterativeSchurComplementSolver : public BlockSparseMatrixBaseSolver {
+ public:
+ explicit IterativeSchurComplementSolver(
+ const LinearSolver::Options& options);
+
+ virtual ~IterativeSchurComplementSolver();
+
+ private:
+ virtual LinearSolver::Summary SolveImpl(
+ BlockSparseMatrixBase* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& options,
+ double* x);
+
+ LinearSolver::Options options_;
+ scoped_ptr<internal::ImplicitSchurComplement> schur_complement_;
+ scoped_ptr<VisibilityBasedPreconditioner> visibility_based_preconditioner_;
+ Vector reduced_linear_system_solution_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_ITERATIVE_SCHUR_COMPLEMENT_SOLVER_H_
diff --git a/internal/ceres/iterative_schur_complement_solver_test.cc b/internal/ceres/iterative_schur_complement_solver_test.cc
new file mode 100644
index 0000000..86e7825
--- /dev/null
+++ b/internal/ceres/iterative_schur_complement_solver_test.cc
@@ -0,0 +1,123 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// TODO(sameeragarwal): Add support for larger, more complicated and
+// poorly conditioned problems both for correctness testing as well as
+// benchmarking.
+
+#include "ceres/iterative_schur_complement_solver.h"
+
+#include <cstddef>
+#include "Eigen/Dense"
+#include "ceres/block_random_access_dense_matrix.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/casts.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/linear_solver.h"
+#include "ceres/schur_eliminator.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using testing::AssertionResult;
+
+const double kEpsilon = 1e-14;
+
+class IterativeSchurComplementSolverTest : public ::testing::Test {
+ protected :
+ virtual void SetUp() {
+ scoped_ptr<LinearLeastSquaresProblem> problem(
+ CreateLinearLeastSquaresProblemFromId(2));
+
+ CHECK_NOTNULL(problem.get());
+ A_.reset(down_cast<BlockSparseMatrix*>(problem->A.release()));
+ b_.reset(problem->b.release());
+ D_.reset(problem->D.release());
+
+ num_cols_ = A_->num_cols();
+ num_rows_ = A_->num_rows();
+ num_eliminate_blocks_ = problem->num_eliminate_blocks;
+ }
+
+ AssertionResult TestSolver(double* D) {
+ TripletSparseMatrix triplet_A(A_->num_rows(),
+ A_->num_cols(),
+ A_->num_nonzeros());
+ A_->ToTripletSparseMatrix(&triplet_A);
+
+ DenseSparseMatrix dense_A(triplet_A);
+
+ LinearSolver::Options options;
+ options.type = DENSE_QR;
+ scoped_ptr<LinearSolver> qr(LinearSolver::Create(options));
+
+ LinearSolver::PerSolveOptions per_solve_options;
+ per_solve_options.D = D;
+ Vector reference_solution(num_cols_);
+ qr->Solve(&dense_A, b_.get(), per_solve_options, reference_solution.data());
+
+ options.elimination_groups.push_back(num_eliminate_blocks_);
+ options.max_num_iterations = num_cols_;
+ IterativeSchurComplementSolver isc(options);
+
+ Vector isc_sol(num_cols_);
+ per_solve_options.r_tolerance = 1e-12;
+ isc.Solve(A_.get(), b_.get(), per_solve_options, isc_sol.data());
+ double diff = (isc_sol - reference_solution).norm();
+ if (diff < kEpsilon) {
+ return testing::AssertionSuccess();
+ } else {
+ return testing::AssertionFailure()
+ << "The reference solution differs from the ITERATIVE_SCHUR"
+ << " solution by " << diff << " which is more than " << kEpsilon;
+ }
+ }
+
+ int num_rows_;
+ int num_cols_;
+ int num_eliminate_blocks_;
+ scoped_ptr<BlockSparseMatrix> A_;
+ scoped_array<double> b_;
+ scoped_array<double> D_;
+};
+
+TEST_F(IterativeSchurComplementSolverTest, SolverTest) {
+ EXPECT_TRUE(TestSolver(NULL));
+ EXPECT_TRUE(TestSolver(D_.get()));
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/jet_test.cc b/internal/ceres/jet_test.cc
new file mode 100644
index 0000000..0dd4336
--- /dev/null
+++ b/internal/ceres/jet_test.cc
@@ -0,0 +1,335 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "ceres/jet.h"
+
+#include <algorithm>
+#include <cmath>
+
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+#include "ceres/fpclassify.h"
+#include "ceres/stringprintf.h"
+#include "ceres/test_util.h"
+
+#define VL VLOG(1)
+
+namespace ceres {
+namespace internal {
+
+const double kE = 2.71828182845904523536;
+
+typedef Jet<double, 2> J;
+
+// Convenient shorthand for making a jet.
+J MakeJet(double a, double v0, double v1) {
+ J z;
+ z.a = a;
+ z.v[0] = v0;
+ z.v[1] = v1;
+ return z;
+}
+
+// On a 32-bit optimized build, the mismatch is about 1.4e-14.
+double const kTolerance = 1e-13;
+
+void ExpectJetsClose(const J &x, const J &y) {
+ ExpectClose(x.a, y.a, kTolerance);
+ ExpectClose(x.v[0], y.v[0], kTolerance);
+ ExpectClose(x.v[1], y.v[1], kTolerance);
+}
+
+TEST(Jet, Jet) {
+ // Pick arbitrary values for x and y.
+ J x = MakeJet(2.3, -2.7, 1e-3);
+ J y = MakeJet(1.7, 0.5, 1e+2);
+
+ VL << "x = " << x;
+ VL << "y = " << y;
+
+ { // Check that log(exp(x)) == x.
+ J z = exp(x);
+ J w = log(z);
+ VL << "z = " << z;
+ VL << "w = " << w;
+ ExpectJetsClose(w, x);
+ }
+
+ { // Check that (x * y) / x == y.
+ J z = x * y;
+ J w = z / x;
+ VL << "z = " << z;
+ VL << "w = " << w;
+ ExpectJetsClose(w, y);
+ }
+
+ { // Check that sqrt(x * x) == x.
+ J z = x * x;
+ J w = sqrt(z);
+ VL << "z = " << z;
+ VL << "w = " << w;
+ ExpectJetsClose(w, x);
+ }
+
+ { // Check that sqrt(y) * sqrt(y) == y.
+ J z = sqrt(y);
+ J w = z * z;
+ VL << "z = " << z;
+ VL << "w = " << w;
+ ExpectJetsClose(w, y);
+ }
+
+ { // Check that cos(2*x) = cos(x)^2 - sin(x)^2
+ J z = cos(J(2.0) * x);
+ J w = cos(x)*cos(x) - sin(x)*sin(x);
+ VL << "z = " << z;
+ VL << "w = " << w;
+ ExpectJetsClose(w, z);
+ }
+
+ { // Check that sin(2*x) = 2*cos(x)*sin(x)
+ J z = sin(J(2.0) * x);
+ J w = J(2.0)*cos(x)*sin(x);
+ VL << "z = " << z;
+ VL << "w = " << w;
+ ExpectJetsClose(w, z);
+ }
+
+ { // Check that cos(x)*cos(x) + sin(x)*sin(x) = 1
+ J z = cos(x) * cos(x);
+ J w = sin(x) * sin(x);
+ VL << "z = " << z;
+ VL << "w = " << w;
+ ExpectJetsClose(z + w, J(1.0));
+ }
+
+ { // Check that atan2(r*sin(t), r*cos(t)) = t.
+ J t = MakeJet(0.7, -0.3, +1.5);
+ J r = MakeJet(2.3, 0.13, -2.4);
+ VL << "t = " << t;
+ VL << "r = " << r;
+
+ J u = atan2(r * sin(t), r * cos(t));
+ VL << "u = " << u;
+
+ ExpectJetsClose(u, t);
+ }
+
+ { // Check that pow(x, 1) == x.
+ VL << "x = " << x;
+
+ J u = pow(x, 1.);
+ VL << "u = " << u;
+
+ ExpectJetsClose(x, u);
+ }
+
+ { // Check that pow(x, 1) == x.
+ J y = MakeJet(1, 0.0, 0.0);
+ VL << "x = " << x;
+ VL << "y = " << y;
+
+ J u = pow(x, y);
+ VL << "u = " << u;
+
+ ExpectJetsClose(x, u);
+ }
+
+ { // Check that pow(e, log(x)) == x.
+ J logx = log(x);
+
+ VL << "x = " << x;
+ VL << "y = " << y;
+
+ J u = pow(kE, logx);
+ VL << "u = " << u;
+
+ ExpectJetsClose(x, u);
+ }
+
+ { // Check that pow(e, log(x)) == x.
+ J logx = log(x);
+ J e = MakeJet(kE, 0., 0.);
+ VL << "x = " << x;
+ VL << "log(x) = " << logx;
+
+ J u = pow(e, logx);
+ VL << "u = " << u;
+
+ ExpectJetsClose(x, u);
+ }
+
+ { // Check that pow(e, log(x)) == x.
+ J logx = log(x);
+ J e = MakeJet(kE, 0., 0.);
+ VL << "x = " << x;
+ VL << "logx = " << logx;
+
+ J u = pow(e, logx);
+ VL << "u = " << u;
+
+ ExpectJetsClose(x, u);
+ }
+
+ { // Check that pow(x,y) = exp(y*log(x)).
+ J logx = log(x);
+ J e = MakeJet(kE, 0., 0.);
+ VL << "x = " << x;
+ VL << "logx = " << logx;
+
+ J u = pow(e, y*logx);
+ J v = pow(x, y);
+ VL << "u = " << u;
+ VL << "v = " << v;
+
+ ExpectJetsClose(v, u);
+ }
+
+ { // Check that 1 + x == x + 1.
+ J a = x + 1.0;
+ J b = 1.0 + x;
+
+ ExpectJetsClose(a, b);
+ }
+
+ { // Check that 1 - x == -(x - 1).
+ J a = 1.0 - x;
+ J b = -(x - 1.0);
+
+ ExpectJetsClose(a, b);
+ }
+
+ { // Check that x/s == x*s.
+ J a = x / 5.0;
+ J b = x * 5.0;
+
+ ExpectJetsClose(5.0 * a, b / 5.0);
+ }
+
+ { // Check that x / y == 1 / (y / x).
+ J a = x / y;
+ J b = 1.0 / (y / x);
+ VL << "a = " << a;
+ VL << "b = " << b;
+
+ ExpectJetsClose(a, b);
+ }
+
+ { // Check that abs(-x * x) == sqrt(x * x).
+ ExpectJetsClose(abs(-x), sqrt(x * x));
+ }
+
+ { // Check that cos(acos(x)) == x.
+ J a = MakeJet(0.1, -2.7, 1e-3);
+ ExpectJetsClose(cos(acos(a)), a);
+ ExpectJetsClose(acos(cos(a)), a);
+
+ J b = MakeJet(0.6, 0.5, 1e+2);
+ ExpectJetsClose(cos(acos(b)), b);
+ ExpectJetsClose(acos(cos(b)), b);
+ }
+
+ { // Check that sin(asin(x)) == x.
+ J a = MakeJet(0.1, -2.7, 1e-3);
+ ExpectJetsClose(sin(asin(a)), a);
+ ExpectJetsClose(asin(sin(a)), a);
+
+ J b = MakeJet(0.4, 0.5, 1e+2);
+ ExpectJetsClose(sin(asin(b)), b);
+ ExpectJetsClose(asin(sin(b)), b);
+ }
+}
+
+TEST(Jet, JetsInEigenMatrices) {
+ J x = MakeJet(2.3, -2.7, 1e-3);
+ J y = MakeJet(1.7, 0.5, 1e+2);
+ J z = MakeJet(5.3, -4.7, 1e-3);
+ J w = MakeJet(9.7, 1.5, 10.1);
+
+ Eigen::Matrix<J, 2, 2> M;
+ Eigen::Matrix<J, 2, 1> v, r1, r2;
+
+ M << x, y, z, w;
+ v << x, z;
+
+ // Check that M * v == (v^T * M^T)^T
+ r1 = M * v;
+ r2 = (v.transpose() * M.transpose()).transpose();
+
+ ExpectJetsClose(r1(0), r2(0));
+ ExpectJetsClose(r1(1), r2(1));
+}
+
+TEST(JetTraitsTest, ClassificationMixed) {
+ Jet<double, 3> a(5.5, 0);
+ a.v[0] = std::numeric_limits<double>::quiet_NaN();
+ a.v[1] = std::numeric_limits<double>::infinity();
+ a.v[2] = -std::numeric_limits<double>::infinity();
+ EXPECT_FALSE(IsFinite(a));
+ EXPECT_FALSE(IsNormal(a));
+ EXPECT_TRUE(IsInfinite(a));
+ EXPECT_TRUE(IsNaN(a));
+}
+
+TEST(JetTraitsTest, ClassificationNaN) {
+ Jet<double, 3> a(5.5, 0);
+ a.v[0] = std::numeric_limits<double>::quiet_NaN();
+ a.v[1] = 0.0;
+ a.v[2] = 0.0;
+ EXPECT_FALSE(IsFinite(a));
+ EXPECT_FALSE(IsNormal(a));
+ EXPECT_FALSE(IsInfinite(a));
+ EXPECT_TRUE(IsNaN(a));
+}
+
+TEST(JetTraitsTest, ClassificationInf) {
+ Jet<double, 3> a(5.5, 0);
+ a.v[0] = std::numeric_limits<double>::infinity();
+ a.v[1] = 0.0;
+ a.v[2] = 0.0;
+ EXPECT_FALSE(IsFinite(a));
+ EXPECT_FALSE(IsNormal(a));
+ EXPECT_TRUE(IsInfinite(a));
+ EXPECT_FALSE(IsNaN(a));
+}
+
+TEST(JetTraitsTest, ClassificationFinite) {
+ Jet<double, 3> a(5.5, 0);
+ a.v[0] = 100.0;
+ a.v[1] = 1.0;
+ a.v[2] = 3.14159;
+ EXPECT_TRUE(IsFinite(a));
+ EXPECT_TRUE(IsNormal(a));
+ EXPECT_FALSE(IsInfinite(a));
+ EXPECT_FALSE(IsNaN(a));
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/levenberg_marquardt_strategy.cc b/internal/ceres/levenberg_marquardt_strategy.cc
new file mode 100644
index 0000000..9e6a59e
--- /dev/null
+++ b/internal/ceres/levenberg_marquardt_strategy.cc
@@ -0,0 +1,144 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/levenberg_marquardt_strategy.h"
+
+#include <cmath>
+#include "Eigen/Core"
+#include "ceres/array_utils.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/linear_solver.h"
+#include "ceres/sparse_matrix.h"
+#include "ceres/trust_region_strategy.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+LevenbergMarquardtStrategy::LevenbergMarquardtStrategy(
+ const TrustRegionStrategy::Options& options)
+ : linear_solver_(options.linear_solver),
+ radius_(options.initial_radius),
+ max_radius_(options.max_radius),
+ min_diagonal_(options.lm_min_diagonal),
+ max_diagonal_(options.lm_max_diagonal),
+ decrease_factor_(2.0),
+ reuse_diagonal_(false) {
+ CHECK_NOTNULL(linear_solver_);
+ CHECK_GT(min_diagonal_, 0.0);
+ CHECK_LE(min_diagonal_, max_diagonal_);
+ CHECK_GT(max_radius_, 0.0);
+}
+
+LevenbergMarquardtStrategy::~LevenbergMarquardtStrategy() {
+}
+
+TrustRegionStrategy::Summary LevenbergMarquardtStrategy::ComputeStep(
+ const TrustRegionStrategy::PerSolveOptions& per_solve_options,
+ SparseMatrix* jacobian,
+ const double* residuals,
+ double* step) {
+ CHECK_NOTNULL(jacobian);
+ CHECK_NOTNULL(residuals);
+ CHECK_NOTNULL(step);
+
+ const int num_parameters = jacobian->num_cols();
+ if (!reuse_diagonal_) {
+ if (diagonal_.rows() != num_parameters) {
+ diagonal_.resize(num_parameters, 1);
+ }
+
+ jacobian->SquaredColumnNorm(diagonal_.data());
+ for (int i = 0; i < num_parameters; ++i) {
+ diagonal_[i] = min(max(diagonal_[i], min_diagonal_), max_diagonal_);
+ }
+ }
+
+ lm_diagonal_ = (diagonal_ / radius_).array().sqrt();
+
+ LinearSolver::PerSolveOptions solve_options;
+ solve_options.D = lm_diagonal_.data();
+ solve_options.q_tolerance = per_solve_options.eta;
+ // Disable r_tolerance checking. Since we only care about
+ // termination via the q_tolerance. As Nash and Sofer show,
+ // r_tolerance based termination is essentially useless in
+ // Truncated Newton methods.
+ solve_options.r_tolerance = -1.0;
+
+ // Invalidate the output array lm_step, so that we can detect if
+ // the linear solver generated numerical garbage. This is known
+ // to happen for the DENSE_QR and then DENSE_SCHUR solver when
+ // the Jacobin is severly rank deficient and mu is too small.
+ InvalidateArray(num_parameters, step);
+
+ // Instead of solving Jx = -r, solve Jy = r.
+ // Then x can be found as x = -y, but the inputs jacobian and residuals
+ // do not need to be modified.
+ LinearSolver::Summary linear_solver_summary =
+ linear_solver_->Solve(jacobian, residuals, solve_options, step);
+ if (linear_solver_summary.termination_type == FAILURE ||
+ !IsArrayValid(num_parameters, step)) {
+ LOG(WARNING) << "Linear solver failure. Failed to compute a finite step.";
+ linear_solver_summary.termination_type = FAILURE;
+ } else {
+ VectorRef(step, num_parameters) *= -1.0;
+ }
+
+ reuse_diagonal_ = true;
+
+ TrustRegionStrategy::Summary summary;
+ summary.residual_norm = linear_solver_summary.residual_norm;
+ summary.num_iterations = linear_solver_summary.num_iterations;
+ summary.termination_type = linear_solver_summary.termination_type;
+ return summary;
+}
+
+void LevenbergMarquardtStrategy::StepAccepted(double step_quality) {
+ CHECK_GT(step_quality, 0.0);
+ radius_ = radius_ / std::max(1.0 / 3.0,
+ 1.0 - pow(2.0 * step_quality - 1.0, 3));
+ radius_ = std::min(max_radius_, radius_);
+ decrease_factor_ = 2.0;
+ reuse_diagonal_ = false;
+}
+
+void LevenbergMarquardtStrategy::StepRejected(double step_quality) {
+ radius_ = radius_ / decrease_factor_;
+ decrease_factor_ *= 2.0;
+ reuse_diagonal_ = true;
+}
+
+double LevenbergMarquardtStrategy::Radius() const {
+ return radius_;
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/levenberg_marquardt_strategy.h b/internal/ceres/levenberg_marquardt_strategy.h
new file mode 100644
index 0000000..90c2178
--- /dev/null
+++ b/internal/ceres/levenberg_marquardt_strategy.h
@@ -0,0 +1,86 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_LEVENBERG_MARQUARDT_STRATEGY_H_
+#define CERES_INTERNAL_LEVENBERG_MARQUARDT_STRATEGY_H_
+
+#include "ceres/internal/eigen.h"
+#include "ceres/trust_region_strategy.h"
+
+namespace ceres {
+namespace internal {
+
+// Levenberg-Marquardt step computation and trust region sizing
+// strategy based on on "Methods for Nonlinear Least Squares" by
+// K. Madsen, H.B. Nielsen and O. Tingleff. Available to download from
+//
+// http://www2.imm.dtu.dk/pubdb/views/edoc_download.php/3215/pdf/imm3215.pdf
+class LevenbergMarquardtStrategy : public TrustRegionStrategy {
+public:
+ LevenbergMarquardtStrategy(const TrustRegionStrategy::Options& options);
+ virtual ~LevenbergMarquardtStrategy();
+
+ // TrustRegionStrategy interface
+ virtual TrustRegionStrategy::Summary ComputeStep(
+ const TrustRegionStrategy::PerSolveOptions& per_solve_options,
+ SparseMatrix* jacobian,
+ const double* residuals,
+ double* step);
+ virtual void StepAccepted(double step_quality);
+ virtual void StepRejected(double step_quality);
+ virtual void StepIsInvalid() {
+ // Treat the current step as a rejected step with no increase in
+ // solution quality. Since rejected steps lead to decrease in the
+ // size of the trust region, the next time ComputeStep is called,
+ // this will lead to a better conditioned system.
+ StepRejected(0.0);
+ }
+
+ virtual double Radius() const;
+
+ private:
+ LinearSolver* linear_solver_;
+ double radius_;
+ double max_radius_;
+ const double min_diagonal_;
+ const double max_diagonal_;
+ double decrease_factor_;
+ bool reuse_diagonal_;
+ Vector diagonal_; // diagonal_ = diag(J'J)
+ // Scaled copy of diagonal_. Stored here as optimization to prevent
+ // allocations in every iteration and reuse when a step fails and
+ // ComputeStep is called again.
+ Vector lm_diagonal_; // lm_diagonal_ = diagonal_ / radius_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_LEVENBERG_MARQUARDT_STRATEGY_H_
diff --git a/internal/ceres/levenberg_marquardt_strategy_test.cc b/internal/ceres/levenberg_marquardt_strategy_test.cc
new file mode 100644
index 0000000..0ce44c4
--- /dev/null
+++ b/internal/ceres/levenberg_marquardt_strategy_test.cc
@@ -0,0 +1,157 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/levenberg_marquardt_strategy.h"
+#include "ceres/linear_solver.h"
+#include "ceres/trust_region_strategy.h"
+#include "glog/logging.h"
+#include "gmock/gmock.h"
+#include "gmock/mock-log.h"
+#include "gtest/gtest.h"
+
+using testing::AllOf;
+using testing::AnyNumber;
+using testing::HasSubstr;
+using testing::ScopedMockLog;
+using testing::_;
+
+namespace ceres {
+namespace internal {
+
+const double kTolerance = 1e-16;
+
+// Linear solver that takes as input a vector and checks that the
+// caller passes the same vector as LinearSolver::PerSolveOptions.D.
+class RegularizationCheckingLinearSolver : public DenseSparseMatrixSolver {
+ public:
+ RegularizationCheckingLinearSolver(const int num_cols, const double* diagonal)
+ : num_cols_(num_cols),
+ diagonal_(diagonal) {
+ }
+
+ virtual ~RegularizationCheckingLinearSolver(){}
+
+ private:
+ virtual LinearSolver::Summary SolveImpl(
+ DenseSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x) {
+ CHECK_NOTNULL(per_solve_options.D);
+ for (int i = 0; i < num_cols_; ++i) {
+ EXPECT_NEAR(per_solve_options.D[i], diagonal_[i], kTolerance)
+ << i << " " << per_solve_options.D[i] << " " << diagonal_[i];
+ }
+ return LinearSolver::Summary();
+ }
+
+ const int num_cols_;
+ const double* diagonal_;
+};
+
+TEST(LevenbergMarquardtStrategy, AcceptRejectStepRadiusScaling) {
+ TrustRegionStrategy::Options options;
+ options.initial_radius = 2.0;
+ options.max_radius = 20.0;
+ options.lm_min_diagonal = 1e-8;
+ options.lm_max_diagonal = 1e8;
+
+ // We need a non-null pointer here, so anything should do.
+ scoped_ptr<LinearSolver> linear_solver(
+ new RegularizationCheckingLinearSolver(0, NULL));
+ options.linear_solver = linear_solver.get();
+
+ LevenbergMarquardtStrategy lms(options);
+ EXPECT_EQ(lms.Radius(), options.initial_radius);
+ lms.StepRejected(0.0);
+ EXPECT_EQ(lms.Radius(), 1.0);
+ lms.StepRejected(-1.0);
+ EXPECT_EQ(lms.Radius(), 0.25);
+ lms.StepAccepted(1.0);
+ EXPECT_EQ(lms.Radius(), 0.25 * 3.0);
+ lms.StepAccepted(1.0);
+ EXPECT_EQ(lms.Radius(), 0.25 * 3.0 * 3.0);
+ lms.StepAccepted(0.25);
+ EXPECT_EQ(lms.Radius(), 0.25 * 3.0 * 3.0 / 1.125);
+ lms.StepAccepted(1.0);
+ EXPECT_EQ(lms.Radius(), 0.25 * 3.0 * 3.0 / 1.125 * 3.0);
+ lms.StepAccepted(1.0);
+ EXPECT_EQ(lms.Radius(), 0.25 * 3.0 * 3.0 / 1.125 * 3.0 * 3.0);
+ lms.StepAccepted(1.0);
+ EXPECT_EQ(lms.Radius(), options.max_radius);
+}
+
+TEST(LevenbergMarquardtStrategy, CorrectDiagonalToLinearSolver) {
+ Matrix jacobian(2,3);
+ jacobian.setZero();
+ jacobian(0,0) = 0.0;
+ jacobian(0,1) = 1.0;
+ jacobian(1,1) = 1.0;
+ jacobian(0,2) = 100.0;
+
+ double residual = 1.0;
+ double x[3];
+ DenseSparseMatrix dsm(jacobian);
+
+ TrustRegionStrategy::Options options;
+ options.initial_radius = 2.0;
+ options.max_radius = 20.0;
+ options.lm_min_diagonal = 1e-2;
+ options.lm_max_diagonal = 1e2;
+
+ double diagonal[3];
+ diagonal[0] = options.lm_min_diagonal;
+ diagonal[1] = 2.0;
+ diagonal[2] = options.lm_max_diagonal;
+ for (int i = 0; i < 3; ++i) {
+ diagonal[i] = sqrt(diagonal[i] / options.initial_radius);
+ }
+
+ RegularizationCheckingLinearSolver linear_solver(3, diagonal);
+ options.linear_solver = &linear_solver;
+
+ LevenbergMarquardtStrategy lms(options);
+ TrustRegionStrategy::PerSolveOptions pso;
+
+ {
+ ScopedMockLog log;
+ EXPECT_CALL(log, Log(_, _, _)).Times(AnyNumber());
+ EXPECT_CALL(log, Log(WARNING, _,
+ HasSubstr("Failed to compute a finite step.")));
+
+ TrustRegionStrategy::Summary summary = lms.ComputeStep(pso, &dsm, &residual, x);
+ EXPECT_EQ(summary.termination_type, FAILURE);
+ }
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/linear_least_squares_problems.cc b/internal/ceres/linear_least_squares_problems.cc
new file mode 100644
index 0000000..3e3bcd0
--- /dev/null
+++ b/internal/ceres/linear_least_squares_problems.cc
@@ -0,0 +1,769 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/linear_least_squares_problems.h"
+
+#include <cstdio>
+#include <string>
+#include <vector>
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/block_structure.h"
+#include "ceres/casts.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/file.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/matrix_proto.h"
+#include "ceres/stringprintf.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+LinearLeastSquaresProblem* CreateLinearLeastSquaresProblemFromId(int id) {
+ switch (id) {
+ case 0:
+ return LinearLeastSquaresProblem0();
+ case 1:
+ return LinearLeastSquaresProblem1();
+ case 2:
+ return LinearLeastSquaresProblem2();
+ case 3:
+ return LinearLeastSquaresProblem3();
+ default:
+ LOG(FATAL) << "Unknown problem id requested " << id;
+ }
+ return NULL;
+}
+
+#ifndef CERES_NO_PROTOCOL_BUFFERS
+LinearLeastSquaresProblem* CreateLinearLeastSquaresProblemFromFile(
+ const string& filename) {
+ LinearLeastSquaresProblemProto problem_proto;
+ {
+ string serialized_proto;
+ ReadFileToStringOrDie(filename, &serialized_proto);
+ CHECK(problem_proto.ParseFromString(serialized_proto));
+ }
+
+ LinearLeastSquaresProblem* problem = new LinearLeastSquaresProblem;
+ const SparseMatrixProto& A = problem_proto.a();
+
+ if (A.has_block_matrix()) {
+ problem->A.reset(new BlockSparseMatrix(A));
+ } else if (A.has_triplet_matrix()) {
+ problem->A.reset(new TripletSparseMatrix(A));
+ } else {
+ problem->A.reset(new CompressedRowSparseMatrix(A));
+ }
+
+ if (problem_proto.b_size() > 0) {
+ problem->b.reset(new double[problem_proto.b_size()]);
+ for (int i = 0; i < problem_proto.b_size(); ++i) {
+ problem->b[i] = problem_proto.b(i);
+ }
+ }
+
+ if (problem_proto.d_size() > 0) {
+ problem->D.reset(new double[problem_proto.d_size()]);
+ for (int i = 0; i < problem_proto.d_size(); ++i) {
+ problem->D[i] = problem_proto.d(i);
+ }
+ }
+
+ if (problem_proto.d_size() > 0) {
+ if (problem_proto.x_size() > 0) {
+ problem->x_D.reset(new double[problem_proto.x_size()]);
+ for (int i = 0; i < problem_proto.x_size(); ++i) {
+ problem->x_D[i] = problem_proto.x(i);
+ }
+ }
+ } else {
+ if (problem_proto.x_size() > 0) {
+ problem->x.reset(new double[problem_proto.x_size()]);
+ for (int i = 0; i < problem_proto.x_size(); ++i) {
+ problem->x[i] = problem_proto.x(i);
+ }
+ }
+ }
+
+ problem->num_eliminate_blocks = 0;
+ if (problem_proto.has_num_eliminate_blocks()) {
+ problem->num_eliminate_blocks = problem_proto.num_eliminate_blocks();
+ }
+
+ return problem;
+}
+#else
+LinearLeastSquaresProblem* CreateLinearLeastSquaresProblemFromFile(
+ const string& filename) {
+ LOG(FATAL)
+ << "Loading a least squares problem from disk requires "
+ << "Ceres to be built with Protocol Buffers support.";
+ return NULL;
+}
+#endif // CERES_NO_PROTOCOL_BUFFERS
+
+/*
+A = [1 2]
+ [3 4]
+ [6 -10]
+
+b = [ 8
+ 18
+ -18]
+
+x = [2
+ 3]
+
+D = [1
+ 2]
+
+x_D = [1.78448275;
+ 2.82327586;]
+ */
+LinearLeastSquaresProblem* LinearLeastSquaresProblem0() {
+ LinearLeastSquaresProblem* problem = new LinearLeastSquaresProblem;
+
+ TripletSparseMatrix* A = new TripletSparseMatrix(3, 2, 6);
+ problem->b.reset(new double[3]);
+ problem->D.reset(new double[2]);
+
+ problem->x.reset(new double[2]);
+ problem->x_D.reset(new double[2]);
+
+ int* Ai = A->mutable_rows();
+ int* Aj = A->mutable_cols();
+ double* Ax = A->mutable_values();
+
+ int counter = 0;
+ for (int i = 0; i < 3; ++i) {
+ for (int j = 0; j< 2; ++j) {
+ Ai[counter]=i;
+ Aj[counter]=j;
+ ++counter;
+ }
+ };
+
+ Ax[0] = 1.;
+ Ax[1] = 2.;
+ Ax[2] = 3.;
+ Ax[3] = 4.;
+ Ax[4] = 6;
+ Ax[5] = -10;
+ A->set_num_nonzeros(6);
+ problem->A.reset(A);
+
+ problem->b[0] = 8;
+ problem->b[1] = 18;
+ problem->b[2] = -18;
+
+ problem->x[0] = 2.0;
+ problem->x[1] = 3.0;
+
+ problem->D[0] = 1;
+ problem->D[1] = 2;
+
+ problem->x_D[0] = 1.78448275;
+ problem->x_D[1] = 2.82327586;
+ return problem;
+}
+
+
+/*
+ A = [1 0 | 2 0 0
+ 3 0 | 0 4 0
+ 0 5 | 0 0 6
+ 0 7 | 8 0 0
+ 0 9 | 1 0 0
+ 0 0 | 1 1 1]
+
+ b = [0
+ 1
+ 2
+ 3
+ 4
+ 5]
+
+ c = A'* b = [ 3
+ 67
+ 33
+ 9
+ 17]
+
+ A'A = [10 0 2 12 0
+ 0 155 65 0 30
+ 2 65 70 1 1
+ 12 0 1 17 1
+ 0 30 1 1 37]
+
+ S = [ 42.3419 -1.4000 -11.5806
+ -1.4000 2.6000 1.0000
+ 11.5806 1.0000 31.1935]
+
+ r = [ 4.3032
+ 5.4000
+ 5.0323]
+
+ S\r = [ 0.2102
+ 2.1367
+ 0.1388]
+
+ A\b = [-2.3061
+ 0.3172
+ 0.2102
+ 2.1367
+ 0.1388]
+*/
+// The following two functions create a TripletSparseMatrix and a
+// BlockSparseMatrix version of this problem.
+
+// TripletSparseMatrix version.
+LinearLeastSquaresProblem* LinearLeastSquaresProblem1() {
+ int num_rows = 6;
+ int num_cols = 5;
+
+ LinearLeastSquaresProblem* problem = new LinearLeastSquaresProblem;
+ TripletSparseMatrix* A = new TripletSparseMatrix(num_rows,
+ num_cols,
+ num_rows * num_cols);
+ problem->b.reset(new double[num_rows]);
+ problem->D.reset(new double[num_cols]);
+ problem->num_eliminate_blocks = 2;
+
+ int* rows = A->mutable_rows();
+ int* cols = A->mutable_cols();
+ double* values = A->mutable_values();
+
+ int nnz = 0;
+
+ // Row 1
+ {
+ rows[nnz] = 0;
+ cols[nnz] = 0;
+ values[nnz++] = 1;
+
+ rows[nnz] = 0;
+ cols[nnz] = 2;
+ values[nnz++] = 2;
+ }
+
+ // Row 2
+ {
+ rows[nnz] = 1;
+ cols[nnz] = 0;
+ values[nnz++] = 3;
+
+ rows[nnz] = 1;
+ cols[nnz] = 3;
+ values[nnz++] = 4;
+ }
+
+ // Row 3
+ {
+ rows[nnz] = 2;
+ cols[nnz] = 1;
+ values[nnz++] = 5;
+
+ rows[nnz] = 2;
+ cols[nnz] = 4;
+ values[nnz++] = 6;
+ }
+
+ // Row 4
+ {
+ rows[nnz] = 3;
+ cols[nnz] = 1;
+ values[nnz++] = 7;
+
+ rows[nnz] = 3;
+ cols[nnz] = 2;
+ values[nnz++] = 8;
+ }
+
+ // Row 5
+ {
+ rows[nnz] = 4;
+ cols[nnz] = 1;
+ values[nnz++] = 9;
+
+ rows[nnz] = 4;
+ cols[nnz] = 2;
+ values[nnz++] = 1;
+ }
+
+ // Row 6
+ {
+ rows[nnz] = 5;
+ cols[nnz] = 2;
+ values[nnz++] = 1;
+
+ rows[nnz] = 5;
+ cols[nnz] = 3;
+ values[nnz++] = 1;
+
+ rows[nnz] = 5;
+ cols[nnz] = 4;
+ values[nnz++] = 1;
+ }
+
+ A->set_num_nonzeros(nnz);
+ CHECK(A->IsValid());
+
+ problem->A.reset(A);
+
+ for (int i = 0; i < num_cols; ++i) {
+ problem->D.get()[i] = 1;
+ }
+
+ for (int i = 0; i < num_rows; ++i) {
+ problem->b.get()[i] = i;
+ }
+
+ return problem;
+}
+
+// BlockSparseMatrix version
+LinearLeastSquaresProblem* LinearLeastSquaresProblem2() {
+ int num_rows = 6;
+ int num_cols = 5;
+
+ LinearLeastSquaresProblem* problem = new LinearLeastSquaresProblem;
+
+ problem->b.reset(new double[num_rows]);
+ problem->D.reset(new double[num_cols]);
+ problem->num_eliminate_blocks = 2;
+
+ CompressedRowBlockStructure* bs = new CompressedRowBlockStructure;
+ scoped_array<double> values(new double[num_rows * num_cols]);
+
+ for (int c = 0; c < num_cols; ++c) {
+ bs->cols.push_back(Block());
+ bs->cols.back().size = 1;
+ bs->cols.back().position = c;
+ }
+
+ int nnz = 0;
+
+ // Row 1
+ {
+ values[nnz++] = 1;
+ values[nnz++] = 2;
+
+ bs->rows.push_back(CompressedRow());
+ CompressedRow& row = bs->rows.back();
+ row.block.size = 1;
+ row.block.position = 0;
+ row.cells.push_back(Cell(0, 0));
+ row.cells.push_back(Cell(2, 1));
+ }
+
+ // Row 2
+ {
+ values[nnz++] = 3;
+ values[nnz++] = 4;
+
+ bs->rows.push_back(CompressedRow());
+ CompressedRow& row = bs->rows.back();
+ row.block.size = 1;
+ row.block.position = 1;
+ row.cells.push_back(Cell(0, 2));
+ row.cells.push_back(Cell(3, 3));
+ }
+
+ // Row 3
+ {
+ values[nnz++] = 5;
+ values[nnz++] = 6;
+
+ bs->rows.push_back(CompressedRow());
+ CompressedRow& row = bs->rows.back();
+ row.block.size = 1;
+ row.block.position = 2;
+ row.cells.push_back(Cell(1, 4));
+ row.cells.push_back(Cell(4, 5));
+ }
+
+ // Row 4
+ {
+ values[nnz++] = 7;
+ values[nnz++] = 8;
+
+ bs->rows.push_back(CompressedRow());
+ CompressedRow& row = bs->rows.back();
+ row.block.size = 1;
+ row.block.position = 3;
+ row.cells.push_back(Cell(1, 6));
+ row.cells.push_back(Cell(2, 7));
+ }
+
+ // Row 5
+ {
+ values[nnz++] = 9;
+ values[nnz++] = 1;
+
+ bs->rows.push_back(CompressedRow());
+ CompressedRow& row = bs->rows.back();
+ row.block.size = 1;
+ row.block.position = 4;
+ row.cells.push_back(Cell(1, 8));
+ row.cells.push_back(Cell(2, 9));
+ }
+
+ // Row 6
+ {
+ values[nnz++] = 1;
+ values[nnz++] = 1;
+ values[nnz++] = 1;
+
+ bs->rows.push_back(CompressedRow());
+ CompressedRow& row = bs->rows.back();
+ row.block.size = 1;
+ row.block.position = 5;
+ row.cells.push_back(Cell(2, 10));
+ row.cells.push_back(Cell(3, 11));
+ row.cells.push_back(Cell(4, 12));
+ }
+
+ BlockSparseMatrix* A = new BlockSparseMatrix(bs);
+ memcpy(A->mutable_values(), values.get(), nnz * sizeof(*A->values()));
+
+ for (int i = 0; i < num_cols; ++i) {
+ problem->D.get()[i] = 1;
+ }
+
+ for (int i = 0; i < num_rows; ++i) {
+ problem->b.get()[i] = i;
+ }
+
+ problem->A.reset(A);
+
+ return problem;
+}
+
+
+/*
+ A = [1 0
+ 3 0
+ 0 5
+ 0 7
+ 0 9
+ 0 0]
+
+ b = [0
+ 1
+ 2
+ 3
+ 4
+ 5]
+*/
+// BlockSparseMatrix version
+LinearLeastSquaresProblem* LinearLeastSquaresProblem3() {
+ int num_rows = 5;
+ int num_cols = 2;
+
+ LinearLeastSquaresProblem* problem = new LinearLeastSquaresProblem;
+
+ problem->b.reset(new double[num_rows]);
+ problem->D.reset(new double[num_cols]);
+ problem->num_eliminate_blocks = 2;
+
+ CompressedRowBlockStructure* bs = new CompressedRowBlockStructure;
+ scoped_array<double> values(new double[num_rows * num_cols]);
+
+ for (int c = 0; c < num_cols; ++c) {
+ bs->cols.push_back(Block());
+ bs->cols.back().size = 1;
+ bs->cols.back().position = c;
+ }
+
+ int nnz = 0;
+
+ // Row 1
+ {
+ values[nnz++] = 1;
+ bs->rows.push_back(CompressedRow());
+ CompressedRow& row = bs->rows.back();
+ row.block.size = 1;
+ row.block.position = 0;
+ row.cells.push_back(Cell(0, 0));
+ }
+
+ // Row 2
+ {
+ values[nnz++] = 3;
+ bs->rows.push_back(CompressedRow());
+ CompressedRow& row = bs->rows.back();
+ row.block.size = 1;
+ row.block.position = 1;
+ row.cells.push_back(Cell(0, 1));
+ }
+
+ // Row 3
+ {
+ values[nnz++] = 5;
+ bs->rows.push_back(CompressedRow());
+ CompressedRow& row = bs->rows.back();
+ row.block.size = 1;
+ row.block.position = 2;
+ row.cells.push_back(Cell(1, 2));
+ }
+
+ // Row 4
+ {
+ values[nnz++] = 7;
+ bs->rows.push_back(CompressedRow());
+ CompressedRow& row = bs->rows.back();
+ row.block.size = 1;
+ row.block.position = 3;
+ row.cells.push_back(Cell(1, 3));
+ }
+
+ // Row 5
+ {
+ values[nnz++] = 9;
+ bs->rows.push_back(CompressedRow());
+ CompressedRow& row = bs->rows.back();
+ row.block.size = 1;
+ row.block.position = 4;
+ row.cells.push_back(Cell(1, 4));
+ }
+
+ BlockSparseMatrix* A = new BlockSparseMatrix(bs);
+ memcpy(A->mutable_values(), values.get(), nnz * sizeof(*A->values()));
+
+ for (int i = 0; i < num_cols; ++i) {
+ problem->D.get()[i] = 1;
+ }
+
+ for (int i = 0; i < num_rows; ++i) {
+ problem->b.get()[i] = i;
+ }
+
+ problem->A.reset(A);
+
+ return problem;
+}
+
+bool DumpLinearLeastSquaresProblemToConsole(const string& directory,
+ int iteration,
+ const SparseMatrix* A,
+ const double* D,
+ const double* b,
+ const double* x,
+ int num_eliminate_blocks) {
+ CHECK_NOTNULL(A);
+ Matrix AA;
+ A->ToDenseMatrix(&AA);
+ LOG(INFO) << "A^T: \n" << AA.transpose();
+
+ if (D != NULL) {
+ LOG(INFO) << "A's appended diagonal:\n"
+ << ConstVectorRef(D, A->num_cols());
+ }
+
+ if (b != NULL) {
+ LOG(INFO) << "b: \n" << ConstVectorRef(b, A->num_rows());
+ }
+
+ if (x != NULL) {
+ LOG(INFO) << "x: \n" << ConstVectorRef(x, A->num_cols());
+ }
+ return true;
+};
+
+#ifndef CERES_NO_PROTOCOL_BUFFERS
+bool DumpLinearLeastSquaresProblemToProtocolBuffer(const string& directory,
+ int iteration,
+ const SparseMatrix* A,
+ const double* D,
+ const double* b,
+ const double* x,
+ int num_eliminate_blocks) {
+ CHECK_NOTNULL(A);
+ LinearLeastSquaresProblemProto lsqp;
+ A->ToProto(lsqp.mutable_a());
+
+ if (D != NULL) {
+ for (int i = 0; i < A->num_cols(); ++i) {
+ lsqp.add_d(D[i]);
+ }
+ }
+
+ if (b != NULL) {
+ for (int i = 0; i < A->num_rows(); ++i) {
+ lsqp.add_b(b[i]);
+ }
+ }
+
+ if (x != NULL) {
+ for (int i = 0; i < A->num_cols(); ++i) {
+ lsqp.add_x(x[i]);
+ }
+ }
+
+ lsqp.set_num_eliminate_blocks(num_eliminate_blocks);
+ string format_string = JoinPath(directory,
+ "lm_iteration_%03d.lsqp");
+ string filename =
+ StringPrintf(format_string.c_str(), iteration);
+ LOG(INFO) << "Dumping least squares problem for iteration " << iteration
+ << " to disk. File: " << filename;
+ WriteStringToFileOrDie(lsqp.SerializeAsString(), filename);
+ return true;
+}
+#else
+bool DumpLinearLeastSquaresProblemToProtocolBuffer(const string& directory,
+ int iteration,
+ const SparseMatrix* A,
+ const double* D,
+ const double* b,
+ const double* x,
+ int num_eliminate_blocks) {
+ LOG(ERROR) << "Dumping least squares problems is only "
+ << "supported when Ceres is compiled with "
+ << "protocol buffer support.";
+ return false;
+}
+#endif
+
+void WriteArrayToFileOrDie(const string& filename,
+ const double* x,
+ const int size) {
+ CHECK_NOTNULL(x);
+ VLOG(2) << "Writing array to: " << filename;
+ FILE* fptr = fopen(filename.c_str(), "w");
+ CHECK_NOTNULL(fptr);
+ for (int i = 0; i < size; ++i) {
+ fprintf(fptr, "%17f\n", x[i]);
+ }
+ fclose(fptr);
+}
+
+bool DumpLinearLeastSquaresProblemToTextFile(const string& directory,
+ int iteration,
+ const SparseMatrix* A,
+ const double* D,
+ const double* b,
+ const double* x,
+ int num_eliminate_blocks) {
+ CHECK_NOTNULL(A);
+ string format_string = JoinPath(directory,
+ "lm_iteration_%03d");
+ string filename_prefix =
+ StringPrintf(format_string.c_str(), iteration);
+
+ LOG(INFO) << "writing to: " << filename_prefix << "*";
+
+ string matlab_script;
+ StringAppendF(&matlab_script,
+ "function lsqp = lm_iteration_%03d()\n", iteration);
+ StringAppendF(&matlab_script,
+ "lsqp.num_rows = %d;\n", A->num_rows());
+ StringAppendF(&matlab_script,
+ "lsqp.num_cols = %d;\n", A->num_cols());
+
+ {
+ string filename = filename_prefix + "_A.txt";
+ FILE* fptr = fopen(filename.c_str(), "w");
+ CHECK_NOTNULL(fptr);
+ A->ToTextFile(fptr);
+ fclose(fptr);
+ StringAppendF(&matlab_script,
+ "tmp = load('%s', '-ascii');\n", filename.c_str());
+ StringAppendF(
+ &matlab_script,
+ "lsqp.A = sparse(tmp(:, 1) + 1, tmp(:, 2) + 1, tmp(:, 3), %d, %d);\n",
+ A->num_rows(),
+ A->num_cols());
+ }
+
+
+ if (D != NULL) {
+ string filename = filename_prefix + "_D.txt";
+ WriteArrayToFileOrDie(filename, D, A->num_cols());
+ StringAppendF(&matlab_script,
+ "lsqp.D = load('%s', '-ascii');\n", filename.c_str());
+ }
+
+ if (b != NULL) {
+ string filename = filename_prefix + "_b.txt";
+ WriteArrayToFileOrDie(filename, b, A->num_rows());
+ StringAppendF(&matlab_script,
+ "lsqp.b = load('%s', '-ascii');\n", filename.c_str());
+ }
+
+ if (x != NULL) {
+ string filename = filename_prefix + "_x.txt";
+ WriteArrayToFileOrDie(filename, x, A->num_cols());
+ StringAppendF(&matlab_script,
+ "lsqp.x = load('%s', '-ascii');\n", filename.c_str());
+ }
+
+ string matlab_filename = filename_prefix + ".m";
+ WriteStringToFileOrDie(matlab_script, matlab_filename);
+ return true;
+}
+
+bool DumpLinearLeastSquaresProblem(const string& directory,
+ int iteration,
+ DumpFormatType dump_format_type,
+ const SparseMatrix* A,
+ const double* D,
+ const double* b,
+ const double* x,
+ int num_eliminate_blocks) {
+ switch (dump_format_type) {
+ case (CONSOLE):
+ return DumpLinearLeastSquaresProblemToConsole(directory,
+ iteration,
+ A, D, b, x,
+ num_eliminate_blocks);
+ case (PROTOBUF):
+ return DumpLinearLeastSquaresProblemToProtocolBuffer(
+ directory,
+ iteration,
+ A, D, b, x,
+ num_eliminate_blocks);
+ case (TEXTFILE):
+ return DumpLinearLeastSquaresProblemToTextFile(directory,
+ iteration,
+ A, D, b, x,
+ num_eliminate_blocks);
+ default:
+ LOG(FATAL) << "Unknown DumpFormatType " << dump_format_type;
+ };
+
+ return true;
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/linear_least_squares_problems.h b/internal/ceres/linear_least_squares_problems.h
new file mode 100644
index 0000000..553cc0d
--- /dev/null
+++ b/internal/ceres/linear_least_squares_problems.h
@@ -0,0 +1,87 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_
+#define CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_
+
+#include <string>
+#include <vector>
+#include "ceres/sparse_matrix.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+// Structure defining a linear least squares problem and if possible
+// ground truth solutions. To be used by various LinearSolver tests.
+struct LinearLeastSquaresProblem {
+ LinearLeastSquaresProblem()
+ : A(NULL), b(NULL), D(NULL), num_eliminate_blocks(0),
+ x(NULL), x_D(NULL) {
+ }
+
+ scoped_ptr<SparseMatrix> A;
+ scoped_array<double> b;
+ scoped_array<double> D;
+ // If using the schur eliminator then how many of the variable
+ // blocks are e_type blocks.
+ int num_eliminate_blocks;
+
+ // Solution to min_x |Ax - b|^2
+ scoped_array<double> x;
+ // Solution to min_x |Ax - b|^2 + |Dx|^2
+ scoped_array<double> x_D;
+};
+
+// Factories for linear least squares problem.
+LinearLeastSquaresProblem* CreateLinearLeastSquaresProblemFromId(int id);
+LinearLeastSquaresProblem* CreateLinearLeastSquaresProblemFromFile(
+ const string& filename);
+
+LinearLeastSquaresProblem* LinearLeastSquaresProblem0();
+LinearLeastSquaresProblem* LinearLeastSquaresProblem1();
+LinearLeastSquaresProblem* LinearLeastSquaresProblem2();
+LinearLeastSquaresProblem* LinearLeastSquaresProblem3();
+
+// Write the linear least squares problem to disk. The exact format
+// depends on dump_format_type.
+bool DumpLinearLeastSquaresProblem(const string& directory,
+ int iteration,
+ DumpFormatType dump_format_type,
+ const SparseMatrix* A,
+ const double* D,
+ const double* b,
+ const double* x,
+ int num_eliminate_blocks);
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_
diff --git a/internal/ceres/linear_operator.cc b/internal/ceres/linear_operator.cc
new file mode 100644
index 0000000..4b59fa1
--- /dev/null
+++ b/internal/ceres/linear_operator.cc
@@ -0,0 +1,40 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/linear_operator.h"
+
+namespace ceres {
+namespace internal {
+
+LinearOperator::~LinearOperator() {
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/linear_operator.h b/internal/ceres/linear_operator.h
new file mode 100644
index 0000000..d5c15ce
--- /dev/null
+++ b/internal/ceres/linear_operator.h
@@ -0,0 +1,59 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Base classes for access to an linear operator.
+
+#ifndef CERES_INTERNAL_LINEAR_OPERATOR_H_
+#define CERES_INTERNAL_LINEAR_OPERATOR_H_
+
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+// This is an abstract base class for linear operators. It supports
+// access to size information and left and right multiply operators.
+class LinearOperator {
+ public:
+ virtual ~LinearOperator();
+
+ // y = y + Ax;
+ virtual void RightMultiply(const double* x, double* y) const = 0;
+ // y = y + A'x;
+ virtual void LeftMultiply(const double* x, double* y) const = 0;
+
+ virtual int num_rows() const = 0;
+ virtual int num_cols() const = 0;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_LINEAR_OPERATOR_H_
diff --git a/internal/ceres/linear_solver.cc b/internal/ceres/linear_solver.cc
new file mode 100644
index 0000000..08c3ba1
--- /dev/null
+++ b/internal/ceres/linear_solver.cc
@@ -0,0 +1,93 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/linear_solver.h"
+
+#include "ceres/cgnr_solver.h"
+#include "ceres/dense_normal_cholesky_solver.h"
+#include "ceres/dense_qr_solver.h"
+#include "ceres/iterative_schur_complement_solver.h"
+#include "ceres/schur_complement_solver.h"
+#include "ceres/sparse_normal_cholesky_solver.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+LinearSolver::~LinearSolver() {
+}
+
+LinearSolver* LinearSolver::Create(const LinearSolver::Options& options) {
+ switch (options.type) {
+ case CGNR:
+ return new CgnrSolver(options);
+
+ case SPARSE_NORMAL_CHOLESKY:
+#if defined(CERES_NO_SUITESPARSE) && defined(CERES_NO_CXSPARSE)
+ LOG(WARNING) << "SPARSE_NORMAL_CHOLESKY is not available. Please "
+ << "build Ceres with SuiteSparse or CXSparse. "
+ << "Returning NULL.";
+ return NULL;
+#else
+ return new SparseNormalCholeskySolver(options);
+#endif
+
+ case SPARSE_SCHUR:
+#if defined(CERES_NO_SUITESPARSE) && defined(CERES_NO_CXSPARSE)
+ LOG(WARNING) << "SPARSE_SCHUR is not available. Please "
+ << "build Ceres with SuiteSparse or CXSparse. "
+ << "Returning NULL.";
+ return NULL;
+#else
+ return new SparseSchurComplementSolver(options);
+#endif
+
+ case DENSE_SCHUR:
+ return new DenseSchurComplementSolver(options);
+
+ case ITERATIVE_SCHUR:
+ return new IterativeSchurComplementSolver(options);
+
+ case DENSE_QR:
+ return new DenseQRSolver(options);
+
+ case DENSE_NORMAL_CHOLESKY:
+ return new DenseNormalCholeskySolver(options);
+
+ default:
+ LOG(FATAL) << "Unknown linear solver type :"
+ << options.type;
+ return NULL; // MSVC doesn't understand that LOG(FATAL) never returns.
+ }
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/linear_solver.h b/internal/ceres/linear_solver.h
new file mode 100644
index 0000000..ee7fce2
--- /dev/null
+++ b/internal/ceres/linear_solver.h
@@ -0,0 +1,303 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Abstract interface for objects solving linear systems of various
+// kinds.
+
+#ifndef CERES_INTERNAL_LINEAR_SOLVER_H_
+#define CERES_INTERNAL_LINEAR_SOLVER_H_
+
+#include <cstddef>
+#include <vector>
+
+#include <glog/logging.h>
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/casts.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/dense_sparse_matrix.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+class LinearOperator;
+
+// Abstract base class for objects that implement algorithms for
+// solving linear systems
+//
+// Ax = b
+//
+// It is expected that a single instance of a LinearSolver object
+// maybe used multiple times for solving multiple linear systems with
+// the same sparsity structure. This allows them to cache and reuse
+// information across solves. This means that calling Solve on the
+// same LinearSolver instance with two different linear systems will
+// result in undefined behaviour.
+//
+// Subclasses of LinearSolver use two structs to configure themselves.
+// The Options struct configures the LinearSolver object for its
+// lifetime. The PerSolveOptions struct is used to specify options for
+// a particular Solve call.
+class LinearSolver {
+ public:
+ struct Options {
+ Options()
+ : type(SPARSE_NORMAL_CHOLESKY),
+ preconditioner_type(JACOBI),
+ sparse_linear_algebra_library(SUITE_SPARSE),
+ use_block_amd(true),
+ min_num_iterations(1),
+ max_num_iterations(1),
+ num_threads(1),
+ residual_reset_period(10),
+ row_block_size(Dynamic),
+ e_block_size(Dynamic),
+ f_block_size(Dynamic) {
+ }
+
+ LinearSolverType type;
+
+ PreconditionerType preconditioner_type;
+
+ SparseLinearAlgebraLibraryType sparse_linear_algebra_library;
+
+ // See solver.h for explanation of this option.
+ bool use_block_amd;
+
+ // Number of internal iterations that the solver uses. This
+ // parameter only makes sense for iterative solvers like CG.
+ int min_num_iterations;
+ int max_num_iterations;
+
+ // If possible, how many threads can the solver use.
+ int num_threads;
+
+ // Hints about the order in which the parameter blocks should be
+ // eliminated by the linear solver.
+ //
+ // For example if elimination_groups is a vector of size k, then
+ // the linear solver is informed that it should eliminate the
+ // parameter blocks 0 - elimination_groups[0] - 1 first, and then
+ // elimination_groups[0] - elimination_groups[1] and so on. Within
+ // each elimination group, the linear solver is free to choose how
+ // the parameter blocks are ordered. Different linear solvers have
+ // differing requirements on elimination_groups.
+ //
+ // The most common use is for Schur type solvers, where there
+ // should be at least two elimination groups and the first
+ // elimination group must form an independent set in the normal
+ // equations. The first elimination group corresponds to the
+ // num_eliminate_blocks in the Schur type solvers.
+ vector<int> elimination_groups;
+
+ // Iterative solvers, e.g. Preconditioned Conjugate Gradients
+ // maintain a cheap estimate of the residual which may become
+ // inaccurate over time. Thus for non-zero values of this
+ // parameter, the solver can be told to recalculate the value of
+ // the residual using a |b - Ax| evaluation.
+ int residual_reset_period;
+
+ // If the block sizes in a BlockSparseMatrix are fixed, then in
+ // some cases the Schur complement based solvers can detect and
+ // specialize on them.
+ //
+ // It is expected that these parameters are set programmatically
+ // rather than manually.
+ //
+ // Please see schur_complement_solver.h and schur_eliminator.h for
+ // more details.
+ int row_block_size;
+ int e_block_size;
+ int f_block_size;
+ };
+
+ // Options for the Solve method.
+ struct PerSolveOptions {
+ PerSolveOptions()
+ : D(NULL),
+ preconditioner(NULL),
+ r_tolerance(0.0),
+ q_tolerance(0.0) {
+ }
+
+ // This option only makes sense for unsymmetric linear solvers
+ // that can solve rectangular linear systems.
+ //
+ // Given a matrix A, an optional diagonal matrix D as a vector,
+ // and a vector b, the linear solver will solve for
+ //
+ // | A | x = | b |
+ // | D | | 0 |
+ //
+ // If D is null, then it is treated as zero, and the solver returns
+ // the solution to
+ //
+ // A x = b
+ //
+ // In either case, x is the vector that solves the following
+ // optimization problem.
+ //
+ // arg min_x ||Ax - b||^2 + ||Dx||^2
+ //
+ // Here A is a matrix of size m x n, with full column rank. If A
+ // does not have full column rank, the results returned by the
+ // solver cannot be relied on. D, if it is not null is an array of
+ // size n. b is an array of size m and x is an array of size n.
+ double * D;
+
+ // This option only makes sense for iterative solvers.
+ //
+ // In general the performance of an iterative linear solver
+ // depends on the condition number of the matrix A. For example
+ // the convergence rate of the conjugate gradients algorithm
+ // is proportional to the square root of the condition number.
+ //
+ // One particularly useful technique for improving the
+ // conditioning of a linear system is to precondition it. In its
+ // simplest form a preconditioner is a matrix M such that instead
+ // of solving Ax = b, we solve the linear system AM^{-1} y = b
+ // instead, where M is such that the condition number k(AM^{-1})
+ // is smaller than the conditioner k(A). Given the solution to
+ // this system, x = M^{-1} y. The iterative solver takes care of
+ // the mechanics of solving the preconditioned system and
+ // returning the corrected solution x. The user only needs to
+ // supply a linear operator.
+ //
+ // A null preconditioner is equivalent to an identity matrix being
+ // used a preconditioner.
+ LinearOperator* preconditioner;
+
+
+ // The following tolerance related options only makes sense for
+ // iterative solvers. Direct solvers ignore them.
+
+ // Solver terminates when
+ //
+ // |Ax - b| <= r_tolerance * |b|.
+ //
+ // This is the most commonly used termination criterion for
+ // iterative solvers.
+ double r_tolerance;
+
+ // For PSD matrices A, let
+ //
+ // Q(x) = x'Ax - 2b'x
+ //
+ // be the cost of the quadratic function defined by A and b. Then,
+ // the solver terminates at iteration i if
+ //
+ // i * (Q(x_i) - Q(x_i-1)) / Q(x_i) < q_tolerance.
+ //
+ // This termination criterion is more useful when using CG to
+ // solve the Newton step. This particular convergence test comes
+ // from Stephen Nash's work on truncated Newton
+ // methods. References:
+ //
+ // 1. Stephen G. Nash & Ariela Sofer, Assessing A Search
+ // Direction Within A Truncated Newton Method, Operation
+ // Research Letters 9(1990) 219-221.
+ //
+ // 2. Stephen G. Nash, A Survey of Truncated Newton Methods,
+ // Journal of Computational and Applied Mathematics,
+ // 124(1-2), 45-59, 2000.
+ //
+ double q_tolerance;
+ };
+
+ // Summary of a call to the Solve method. We should move away from
+ // the true/false method for determining solver success. We should
+ // let the summary object do the talking.
+ struct Summary {
+ Summary()
+ : residual_norm(0.0),
+ num_iterations(-1),
+ termination_type(FAILURE) {
+ }
+
+ double residual_norm;
+ int num_iterations;
+ LinearSolverTerminationType termination_type;
+ };
+
+ virtual ~LinearSolver();
+
+ // Solve Ax = b.
+ virtual Summary Solve(LinearOperator* A,
+ const double* b,
+ const PerSolveOptions& per_solve_options,
+ double* x) = 0;
+
+ // Factory
+ static LinearSolver* Create(const Options& options);
+};
+
+// This templated subclass of LinearSolver serves as a base class for
+// other linear solvers that depend on the particular matrix layout of
+// the underlying linear operator. For example some linear solvers
+// need low level access to the TripletSparseMatrix implementing the
+// LinearOperator interface. This class hides those implementation
+// details behind a private virtual method, and has the Solve method
+// perform the necessary upcasting.
+template <typename MatrixType>
+class TypedLinearSolver : public LinearSolver {
+ public:
+ virtual ~TypedLinearSolver() {}
+ virtual LinearSolver::Summary Solve(
+ LinearOperator* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x) {
+ CHECK_NOTNULL(A);
+ CHECK_NOTNULL(b);
+ CHECK_NOTNULL(x);
+ return SolveImpl(down_cast<MatrixType*>(A), b, per_solve_options, x);
+ }
+
+ private:
+ virtual LinearSolver::Summary SolveImpl(
+ MatrixType* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x) = 0;
+};
+
+// Linear solvers that depend on acccess to the low level structure of
+// a SparseMatrix.
+typedef TypedLinearSolver<BlockSparseMatrix> BlockSparseMatrixSolver; // NOLINT
+typedef TypedLinearSolver<BlockSparseMatrixBase> BlockSparseMatrixBaseSolver; // NOLINT
+typedef TypedLinearSolver<CompressedRowSparseMatrix> CompressedRowSparseMatrixSolver; // NOLINT
+typedef TypedLinearSolver<DenseSparseMatrix> DenseSparseMatrixSolver; // NOLINT
+typedef TypedLinearSolver<TripletSparseMatrix> TripletSparseMatrixSolver; // NOLINT
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_LINEAR_SOLVER_H_
diff --git a/internal/ceres/local_parameterization.cc b/internal/ceres/local_parameterization.cc
new file mode 100644
index 0000000..26e7f49
--- /dev/null
+++ b/internal/ceres/local_parameterization.cc
@@ -0,0 +1,141 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/local_parameterization.h"
+
+#include "ceres/internal/eigen.h"
+#include "ceres/rotation.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+IdentityParameterization::IdentityParameterization(const int size)
+ : size_(size) {
+ CHECK_GT(size, 0);
+}
+
+bool IdentityParameterization::Plus(const double* x,
+ const double* delta,
+ double* x_plus_delta) const {
+ VectorRef(x_plus_delta, size_) =
+ ConstVectorRef(x, size_) + ConstVectorRef(delta, size_);
+ return true;
+}
+
+bool IdentityParameterization::ComputeJacobian(const double* x,
+ double* jacobian) const {
+ MatrixRef(jacobian, size_, size_) = Matrix::Identity(size_, size_);
+ return true;
+}
+
+SubsetParameterization::SubsetParameterization(
+ int size,
+ const vector<int>& constant_parameters)
+ : local_size_(size - constant_parameters.size()),
+ constancy_mask_(size, 0) {
+ CHECK_GT(constant_parameters.size(), 0)
+ << "The set of constant parameters should contain at least "
+ << "one element. If you do not wish to hold any parameters "
+ << "constant, then do not use a SubsetParameterization";
+
+ vector<int> constant = constant_parameters;
+ sort(constant.begin(), constant.end());
+ CHECK(unique(constant.begin(), constant.end()) == constant.end())
+ << "The set of constant parameters cannot contain duplicates";
+ CHECK_LT(constant_parameters.size(), size)
+ << "Number of parameters held constant should be less "
+ << "than the size of the parameter block. If you wish "
+ << "to hold the entire parameter block constant, then a "
+ << "efficient way is to directly mark it as constant "
+ << "instead of using a LocalParameterization to do so.";
+ CHECK_GE(*min_element(constant.begin(), constant.end()), 0);
+ CHECK_LT(*max_element(constant.begin(), constant.end()), size);
+
+ for (int i = 0; i < constant_parameters.size(); ++i) {
+ constancy_mask_[constant_parameters[i]] = 1;
+ }
+}
+
+bool SubsetParameterization::Plus(const double* x,
+ const double* delta,
+ double* x_plus_delta) const {
+ for (int i = 0, j = 0; i < constancy_mask_.size(); ++i) {
+ if (constancy_mask_[i]) {
+ x_plus_delta[i] = x[i];
+ } else {
+ x_plus_delta[i] = x[i] + delta[j++];
+ }
+ }
+ return true;
+}
+
+bool SubsetParameterization::ComputeJacobian(const double* x,
+ double* jacobian) const {
+ MatrixRef m(jacobian, constancy_mask_.size(), local_size_);
+ m.setZero();
+ for (int i = 0, j = 0; i < constancy_mask_.size(); ++i) {
+ if (!constancy_mask_[i]) {
+ m(i, j++) = 1.0;
+ }
+ }
+ return true;
+}
+
+bool QuaternionParameterization::Plus(const double* x,
+ const double* delta,
+ double* x_plus_delta) const {
+ const double norm_delta =
+ sqrt(delta[0] * delta[0] + delta[1] * delta[1] + delta[2] * delta[2]);
+ if (norm_delta > 0.0) {
+ const double sin_delta_by_delta = (sin(norm_delta) / norm_delta);
+ double q_delta[4];
+ q_delta[0] = cos(norm_delta);
+ q_delta[1] = sin_delta_by_delta * delta[0];
+ q_delta[2] = sin_delta_by_delta * delta[1];
+ q_delta[3] = sin_delta_by_delta * delta[2];
+ QuaternionProduct(q_delta, x, x_plus_delta);
+ } else {
+ for (int i = 0; i < 4; ++i) {
+ x_plus_delta[i] = x[i];
+ }
+ }
+ return true;
+}
+
+bool QuaternionParameterization::ComputeJacobian(const double* x,
+ double* jacobian) const {
+ jacobian[0] = -x[1]; jacobian[1] = -x[2]; jacobian[2] = -x[3]; // NOLINT
+ jacobian[3] = x[0]; jacobian[4] = x[3]; jacobian[5] = -x[2]; // NOLINT
+ jacobian[6] = -x[3]; jacobian[7] = x[0]; jacobian[8] = x[1]; // NOLINT
+ jacobian[9] = x[2]; jacobian[10] = -x[1]; jacobian[11] = x[0]; // NOLINT
+ return true;
+}
+
+} // namespace ceres
diff --git a/internal/ceres/local_parameterization_test.cc b/internal/ceres/local_parameterization_test.cc
new file mode 100644
index 0000000..9b775b4
--- /dev/null
+++ b/internal/ceres/local_parameterization_test.cc
@@ -0,0 +1,257 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include <cmath>
+#include "ceres/fpclassify.h"
+#include "ceres/internal/autodiff.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/rotation.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(IdentityParameterization, EverythingTest) {
+ IdentityParameterization parameterization(3);
+ EXPECT_EQ(parameterization.GlobalSize(), 3);
+ EXPECT_EQ(parameterization.LocalSize(), 3);
+
+ double x[3] = {1.0, 2.0, 3.0};
+ double delta[3] = {0.0, 1.0, 2.0};
+ double x_plus_delta[3] = {0.0, 0.0, 0.0};
+ parameterization.Plus(x, delta, x_plus_delta);
+ EXPECT_EQ(x_plus_delta[0], 1.0);
+ EXPECT_EQ(x_plus_delta[1], 3.0);
+ EXPECT_EQ(x_plus_delta[2], 5.0);
+
+ double jacobian[9];
+ parameterization.ComputeJacobian(x, jacobian);
+ int k = 0;
+ for (int i = 0; i < 3; ++i) {
+ for (int j = 0; j < 3; ++j, ++k) {
+ EXPECT_EQ(jacobian[k], (i == j) ? 1.0 : 0.0);
+ }
+ }
+}
+
+TEST(SubsetParameterization, DeathTests) {
+ vector<int> constant_parameters;
+ EXPECT_DEATH_IF_SUPPORTED(
+ SubsetParameterization parameterization(1, constant_parameters),
+ "at least");
+
+ constant_parameters.push_back(0);
+ EXPECT_DEATH_IF_SUPPORTED(
+ SubsetParameterization parameterization(1, constant_parameters),
+ "Number of parameters");
+
+ constant_parameters.push_back(1);
+ EXPECT_DEATH_IF_SUPPORTED(
+ SubsetParameterization parameterization(2, constant_parameters),
+ "Number of parameters");
+
+ constant_parameters.push_back(1);
+ EXPECT_DEATH_IF_SUPPORTED(
+ SubsetParameterization parameterization(2, constant_parameters),
+ "duplicates");
+}
+
+TEST(SubsetParameterization, NormalFunctionTest) {
+ double x[4] = {1.0, 2.0, 3.0, 4.0};
+ for (int i = 0; i < 4; ++i) {
+ vector<int> constant_parameters;
+ constant_parameters.push_back(i);
+ SubsetParameterization parameterization(4, constant_parameters);
+ double delta[3] = {1.0, 2.0, 3.0};
+ double x_plus_delta[4] = {0.0, 0.0, 0.0};
+
+ parameterization.Plus(x, delta, x_plus_delta);
+ int k = 0;
+ for (int j = 0; j < 4; ++j) {
+ if (j == i) {
+ EXPECT_EQ(x_plus_delta[j], x[j]);
+ } else {
+ EXPECT_EQ(x_plus_delta[j], x[j] + delta[k++]);
+ }
+ }
+
+ double jacobian[4 * 3];
+ parameterization.ComputeJacobian(x, jacobian);
+ int delta_cursor = 0;
+ int jacobian_cursor = 0;
+ for (int j = 0; j < 4; ++j) {
+ if (j != i) {
+ for (int k = 0; k < 3; ++k, jacobian_cursor++) {
+ EXPECT_EQ(jacobian[jacobian_cursor], delta_cursor == k ? 1.0 : 0.0);
+ }
+ ++delta_cursor;
+ } else {
+ for (int k = 0; k < 3; ++k, jacobian_cursor++) {
+ EXPECT_EQ(jacobian[jacobian_cursor], 0.0);
+ }
+ }
+ }
+ };
+}
+
+// Functor needed to implement automatically differentiated Plus for
+// quaternions.
+struct QuaternionPlus {
+ template<typename T>
+ bool operator()(const T* x, const T* delta, T* x_plus_delta) const {
+ const T squared_norm_delta =
+ delta[0] * delta[0] + delta[1] * delta[1] + delta[2] * delta[2];
+
+ T q_delta[4];
+ if (squared_norm_delta > T(0.0)) {
+ T norm_delta = sqrt(squared_norm_delta);
+ const T sin_delta_by_delta = sin(norm_delta) / norm_delta;
+ q_delta[0] = cos(norm_delta);
+ q_delta[1] = sin_delta_by_delta * delta[0];
+ q_delta[2] = sin_delta_by_delta * delta[1];
+ q_delta[3] = sin_delta_by_delta * delta[2];
+ } else {
+ // We do not just use q_delta = [1,0,0,0] here because that is a
+ // constant and when used for automatic differentiation will
+ // lead to a zero derivative. Instead we take a first order
+ // approximation and evaluate it at zero.
+ q_delta[0] = T(1.0);
+ q_delta[1] = delta[0];
+ q_delta[2] = delta[1];
+ q_delta[3] = delta[2];
+ }
+
+ QuaternionProduct(q_delta, x, x_plus_delta);
+ return true;
+ }
+};
+
+void QuaternionParameterizationTestHelper(const double* x,
+ const double* delta,
+ const double* q_delta) {
+ const double kTolerance = 1e-14;
+ double x_plus_delta_ref[4] = {0.0, 0.0, 0.0, 0.0};
+ QuaternionProduct(q_delta, x, x_plus_delta_ref);
+
+ double x_plus_delta[4] = {0.0, 0.0, 0.0, 0.0};
+ QuaternionParameterization param;
+ param.Plus(x, delta, x_plus_delta);
+ for (int i = 0; i < 4; ++i) {
+ EXPECT_NEAR(x_plus_delta[i], x_plus_delta_ref[i], kTolerance);
+ }
+
+ const double x_plus_delta_norm =
+ sqrt(x_plus_delta[0] * x_plus_delta[0] +
+ x_plus_delta[1] * x_plus_delta[1] +
+ x_plus_delta[2] * x_plus_delta[2] +
+ x_plus_delta[3] * x_plus_delta[3]);
+
+ EXPECT_NEAR(x_plus_delta_norm, 1.0, kTolerance);
+
+ double jacobian_ref[12];
+ double zero_delta[3] = {0.0, 0.0, 0.0};
+ const double* parameters[2] = {x, zero_delta};
+ double* jacobian_array[2] = { NULL, jacobian_ref };
+
+ // Autodiff jacobian at delta_x = 0.
+ internal::AutoDiff<QuaternionPlus, double, 4, 3>::Differentiate(
+ QuaternionPlus(), parameters, 4, x_plus_delta, jacobian_array);
+
+ double jacobian[12];
+ param.ComputeJacobian(x, jacobian);
+ for (int i = 0; i < 12; ++i) {
+ EXPECT_TRUE(IsFinite(jacobian[i]));
+ EXPECT_NEAR(jacobian[i], jacobian_ref[i], kTolerance)
+ << "Jacobian mismatch: i = " << i
+ << "\n Expected \n" << ConstMatrixRef(jacobian_ref, 4, 3)
+ << "\n Actual \n" << ConstMatrixRef(jacobian, 4, 3);
+ }
+}
+
+TEST(QuaternionParameterization, ZeroTest) {
+ double x[4] = {0.5, 0.5, 0.5, 0.5};
+ double delta[3] = {0.0, 0.0, 0.0};
+ double q_delta[4] = {1.0, 0.0, 0.0, 0.0};
+ QuaternionParameterizationTestHelper(x, delta, q_delta);
+}
+
+
+TEST(QuaternionParameterization, NearZeroTest) {
+ double x[4] = {0.52, 0.25, 0.15, 0.45};
+ double norm_x = sqrt(x[0] * x[0] +
+ x[1] * x[1] +
+ x[2] * x[2] +
+ x[3] * x[3]);
+ for (int i = 0; i < 4; ++i) {
+ x[i] = x[i] / norm_x;
+ }
+
+ double delta[3] = {0.24, 0.15, 0.10};
+ for (int i = 0; i < 3; ++i) {
+ delta[i] = delta[i] * 1e-14;
+ }
+
+ double q_delta[4];
+ q_delta[0] = 1.0;
+ q_delta[1] = delta[0];
+ q_delta[2] = delta[1];
+ q_delta[3] = delta[2];
+
+ QuaternionParameterizationTestHelper(x, delta, q_delta);
+}
+
+TEST(QuaternionParameterization, AwayFromZeroTest) {
+ double x[4] = {0.52, 0.25, 0.15, 0.45};
+ double norm_x = sqrt(x[0] * x[0] +
+ x[1] * x[1] +
+ x[2] * x[2] +
+ x[3] * x[3]);
+
+ for (int i = 0; i < 4; ++i) {
+ x[i] = x[i] / norm_x;
+ }
+
+ double delta[3] = {0.24, 0.15, 0.10};
+ const double delta_norm = sqrt(delta[0] * delta[0] +
+ delta[1] * delta[1] +
+ delta[2] * delta[2]);
+ double q_delta[4];
+ q_delta[0] = cos(delta_norm);
+ q_delta[1] = sin(delta_norm) / delta_norm * delta[0];
+ q_delta[2] = sin(delta_norm) / delta_norm * delta[1];
+ q_delta[3] = sin(delta_norm) / delta_norm * delta[2];
+
+ QuaternionParameterizationTestHelper(x, delta, q_delta);
+}
+
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/loss_function.cc b/internal/ceres/loss_function.cc
new file mode 100644
index 0000000..b948f28
--- /dev/null
+++ b/internal/ceres/loss_function.cc
@@ -0,0 +1,157 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Purpose: See .h file.
+
+#include "ceres/loss_function.h"
+
+#include <cmath>
+#include <cstddef>
+
+namespace ceres {
+
+void TrivialLoss::Evaluate(double s, double rho[3]) const {
+ rho[0] = s;
+ rho[1] = 1;
+ rho[2] = 0;
+}
+
+void HuberLoss::Evaluate(double s, double rho[3]) const {
+ if (s > b_) {
+ // Outlier region.
+ // 'r' is always positive.
+ const double r = sqrt(s);
+ rho[0] = 2 * a_ * r - b_;
+ rho[1] = a_ / r;
+ rho[2] = - rho[1] / (2 * s);
+ } else {
+ // Inlier region.
+ rho[0] = s;
+ rho[1] = 1;
+ rho[2] = 0;
+ }
+}
+
+void SoftLOneLoss::Evaluate(double s, double rho[3]) const {
+ const double sum = 1 + s * c_;
+ const double tmp = sqrt(sum);
+ // 'sum' and 'tmp' are always positive, assuming that 's' is.
+ rho[0] = 2 * b_ * (tmp - 1);
+ rho[1] = 1 / tmp;
+ rho[2] = - (c_ * rho[1]) / (2 * sum);
+}
+
+void CauchyLoss::Evaluate(double s, double rho[3]) const {
+ const double sum = 1 + s * c_;
+ const double inv = 1 / sum;
+ // 'sum' and 'inv' are always positive, assuming that 's' is.
+ rho[0] = b_ * log(sum);
+ rho[1] = inv;
+ rho[2] = - c_ * (inv * inv);
+}
+
+void ArctanLoss::Evaluate(double s, double rho[3]) const {
+ const double sum = 1 + s * s * b_;
+ const double inv = 1 / sum;
+ // 'sum' and 'inv' are always positive.
+ rho[0] = a_ * atan2(s, a_);
+ rho[1] = inv;
+ rho[2] = -2 * s * b_ * (inv * inv);
+}
+
+TolerantLoss::TolerantLoss(double a, double b)
+ : a_(a),
+ b_(b),
+ c_(b * log(1.0 + exp(-a / b))) {
+ CHECK_GE(a, 0.0);
+ CHECK_GT(b, 0.0);
+}
+
+void TolerantLoss::Evaluate(double s, double rho[3]) const {
+ const double x = (s - a_) / b_;
+ // The basic equation is rho[0] = b ln(1 + e^x). However, if e^x is too
+ // large, it will overflow. Since numerically 1 + e^x == e^x when the
+ // x is greater than about ln(2^53) for doubles, beyond this threshold
+ // we substitute x for ln(1 + e^x) as a numerically equivalent approximation.
+ static const double kLog2Pow53 = 36.7; // ln(MathLimits<double>::kEpsilon).
+ if (x > kLog2Pow53) {
+ rho[0] = s - a_ - c_;
+ rho[1] = 1.0;
+ rho[2] = 0.0;
+ } else {
+ const double e_x = exp(x);
+ rho[0] = b_ * log(1.0 + e_x) - c_;
+ rho[1] = e_x / (1.0 + e_x);
+ rho[2] = 0.5 / (b_ * (1.0 + cosh(x)));
+ }
+}
+
+ComposedLoss::ComposedLoss(const LossFunction* f, Ownership ownership_f,
+ const LossFunction* g, Ownership ownership_g)
+ : f_(CHECK_NOTNULL(f)),
+ g_(CHECK_NOTNULL(g)),
+ ownership_f_(ownership_f),
+ ownership_g_(ownership_g) {
+}
+
+ComposedLoss::~ComposedLoss() {
+ if (ownership_f_ == DO_NOT_TAKE_OWNERSHIP) {
+ f_.release();
+ }
+ if (ownership_g_ == DO_NOT_TAKE_OWNERSHIP) {
+ g_.release();
+ }
+}
+
+void ComposedLoss::Evaluate(double s, double rho[3]) const {
+ double rho_f[3], rho_g[3];
+ g_->Evaluate(s, rho_g);
+ f_->Evaluate(rho_g[0], rho_f);
+ rho[0] = rho_f[0];
+ // f'(g(s)) * g'(s).
+ rho[1] = rho_f[1] * rho_g[1];
+ // f''(g(s)) * g'(s) * g'(s) + f'(g(s)) * g''(s).
+ rho[2] = rho_f[2] * rho_g[1] * rho_g[1] + rho_f[1] * rho_g[2];
+}
+
+void ScaledLoss::Evaluate(double s, double rho[3]) const {
+ if (rho_.get() == NULL) {
+ rho[0] = a_ * s;
+ rho[1] = a_;
+ rho[2] = 0.0;
+ } else {
+ rho_->Evaluate(s, rho);
+ rho[0] *= a_;
+ rho[1] *= a_;
+ rho[2] *= a_;
+ }
+}
+
+} // namespace ceres
diff --git a/internal/ceres/loss_function_test.cc b/internal/ceres/loss_function_test.cc
new file mode 100644
index 0000000..0967406
--- /dev/null
+++ b/internal/ceres/loss_function_test.cc
@@ -0,0 +1,227 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/loss_function.h"
+
+#include <cstddef>
+
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+namespace {
+
+// Helper function for testing a LossFunction callback.
+//
+// Compares the values of rho'(s) and rho''(s) computed by the
+// callback with estimates obtained by symmetric finite differencing
+// of rho(s).
+void AssertLossFunctionIsValid(const LossFunction& loss, double s) {
+ CHECK_GT(s, 0);
+
+ // Evaluate rho(s), rho'(s) and rho''(s).
+ double rho[3];
+ loss.Evaluate(s, rho);
+
+ // Use symmetric finite differencing to estimate rho'(s) and
+ // rho''(s).
+ const double kH = 1e-4;
+ // Values at s + kH.
+ double fwd[3];
+ // Values at s - kH.
+ double bwd[3];
+ loss.Evaluate(s + kH, fwd);
+ loss.Evaluate(s - kH, bwd);
+
+ // First derivative.
+ const double fd_1 = (fwd[0] - bwd[0]) / (2 * kH);
+ ASSERT_NEAR(fd_1, rho[1], 1e-6);
+
+ // Second derivative.
+ const double fd_2 = (fwd[0] - 2*rho[0] + bwd[0]) / (kH * kH);
+ ASSERT_NEAR(fd_2, rho[2], 1e-6);
+}
+} // namespace
+
+// Try two values of the scaling a = 0.7 and 1.3
+// (where scaling makes sense) and of the squared norm
+// s = 0.357 and 1.792
+//
+// Note that for the Huber loss the test exercises both code paths
+// (i.e. both small and large values of s).
+
+TEST(LossFunction, TrivialLoss) {
+ AssertLossFunctionIsValid(TrivialLoss(), 0.357);
+ AssertLossFunctionIsValid(TrivialLoss(), 1.792);
+}
+
+TEST(LossFunction, HuberLoss) {
+ AssertLossFunctionIsValid(HuberLoss(0.7), 0.357);
+ AssertLossFunctionIsValid(HuberLoss(0.7), 1.792);
+ AssertLossFunctionIsValid(HuberLoss(1.3), 0.357);
+ AssertLossFunctionIsValid(HuberLoss(1.3), 1.792);
+}
+
+TEST(LossFunction, SoftLOneLoss) {
+ AssertLossFunctionIsValid(SoftLOneLoss(0.7), 0.357);
+ AssertLossFunctionIsValid(SoftLOneLoss(0.7), 1.792);
+ AssertLossFunctionIsValid(SoftLOneLoss(1.3), 0.357);
+ AssertLossFunctionIsValid(SoftLOneLoss(1.3), 1.792);
+}
+
+TEST(LossFunction, CauchyLoss) {
+ AssertLossFunctionIsValid(CauchyLoss(0.7), 0.357);
+ AssertLossFunctionIsValid(CauchyLoss(0.7), 1.792);
+ AssertLossFunctionIsValid(CauchyLoss(1.3), 0.357);
+ AssertLossFunctionIsValid(CauchyLoss(1.3), 1.792);
+}
+
+TEST(LossFunction, ArctanLoss) {
+ AssertLossFunctionIsValid(ArctanLoss(0.7), 0.357);
+ AssertLossFunctionIsValid(ArctanLoss(0.7), 1.792);
+ AssertLossFunctionIsValid(ArctanLoss(1.3), 0.357);
+ AssertLossFunctionIsValid(ArctanLoss(1.3), 1.792);
+}
+
+TEST(LossFunction, TolerantLoss) {
+ AssertLossFunctionIsValid(TolerantLoss(0.7, 0.4), 0.357);
+ AssertLossFunctionIsValid(TolerantLoss(0.7, 0.4), 1.792);
+ AssertLossFunctionIsValid(TolerantLoss(0.7, 0.4), 55.5);
+ AssertLossFunctionIsValid(TolerantLoss(1.3, 0.1), 0.357);
+ AssertLossFunctionIsValid(TolerantLoss(1.3, 0.1), 1.792);
+ AssertLossFunctionIsValid(TolerantLoss(1.3, 0.1), 55.5);
+ // Check the value at zero is actually zero.
+ double rho[3];
+ TolerantLoss(0.7, 0.4).Evaluate(0.0, rho);
+ ASSERT_NEAR(rho[0], 0.0, 1e-6);
+ // Check that loss before and after the approximation threshold are good.
+ // A threshold of 36.7 is used by the implementation.
+ AssertLossFunctionIsValid(TolerantLoss(20.0, 1.0), 20.0 + 36.6);
+ AssertLossFunctionIsValid(TolerantLoss(20.0, 1.0), 20.0 + 36.7);
+ AssertLossFunctionIsValid(TolerantLoss(20.0, 1.0), 20.0 + 36.8);
+ AssertLossFunctionIsValid(TolerantLoss(20.0, 1.0), 20.0 + 1000.0);
+}
+
+TEST(LossFunction, ComposedLoss) {
+ {
+ HuberLoss f(0.7);
+ CauchyLoss g(1.3);
+ ComposedLoss c(&f, DO_NOT_TAKE_OWNERSHIP, &g, DO_NOT_TAKE_OWNERSHIP);
+ AssertLossFunctionIsValid(c, 0.357);
+ AssertLossFunctionIsValid(c, 1.792);
+ }
+ {
+ CauchyLoss f(0.7);
+ HuberLoss g(1.3);
+ ComposedLoss c(&f, DO_NOT_TAKE_OWNERSHIP, &g, DO_NOT_TAKE_OWNERSHIP);
+ AssertLossFunctionIsValid(c, 0.357);
+ AssertLossFunctionIsValid(c, 1.792);
+ }
+}
+
+TEST(LossFunction, ScaledLoss) {
+ // Wrap a few loss functions, and a few scale factors. This can't combine
+ // construction with the call to AssertLossFunctionIsValid() because Apple's
+ // GCC is unable to eliminate the copy of ScaledLoss, which is not copyable.
+ {
+ ScaledLoss scaled_loss(NULL, 6, TAKE_OWNERSHIP);
+ AssertLossFunctionIsValid(scaled_loss, 0.323);
+ }
+ {
+ ScaledLoss scaled_loss(new TrivialLoss(), 10, TAKE_OWNERSHIP);
+ AssertLossFunctionIsValid(scaled_loss, 0.357);
+ }
+ {
+ ScaledLoss scaled_loss(new HuberLoss(0.7), 0.1, TAKE_OWNERSHIP);
+ AssertLossFunctionIsValid(scaled_loss, 1.792);
+ }
+ {
+ ScaledLoss scaled_loss(new SoftLOneLoss(1.3), 0.1, TAKE_OWNERSHIP);
+ AssertLossFunctionIsValid(scaled_loss, 1.792);
+ }
+ {
+ ScaledLoss scaled_loss(new CauchyLoss(1.3), 10, TAKE_OWNERSHIP);
+ AssertLossFunctionIsValid(scaled_loss, 1.792);
+ }
+ {
+ ScaledLoss scaled_loss(new ArctanLoss(1.3), 10, TAKE_OWNERSHIP);
+ AssertLossFunctionIsValid(scaled_loss, 1.792);
+ }
+ {
+ ScaledLoss scaled_loss(
+ new TolerantLoss(1.3, 0.1), 10, TAKE_OWNERSHIP);
+ AssertLossFunctionIsValid(scaled_loss, 1.792);
+ }
+ {
+ ScaledLoss scaled_loss(
+ new ComposedLoss(
+ new HuberLoss(0.8), TAKE_OWNERSHIP,
+ new TolerantLoss(1.3, 0.5), TAKE_OWNERSHIP), 10, TAKE_OWNERSHIP);
+ AssertLossFunctionIsValid(scaled_loss, 1.792);
+ }
+}
+
+TEST(LossFunction, LossFunctionWrapper) {
+ // Initialization
+ HuberLoss loss_function1(1.0);
+ LossFunctionWrapper loss_function_wrapper(new HuberLoss(1.0),
+ TAKE_OWNERSHIP);
+
+ double s = 0.862;
+ double rho_gold[3];
+ double rho[3];
+ loss_function1.Evaluate(s, rho_gold);
+ loss_function_wrapper.Evaluate(s, rho);
+ for (int i = 0; i < 3; ++i) {
+ EXPECT_NEAR(rho[i], rho_gold[i], 1e-12);
+ }
+
+ // Resetting
+ HuberLoss loss_function2(0.5);
+ loss_function_wrapper.Reset(new HuberLoss(0.5), TAKE_OWNERSHIP);
+ loss_function_wrapper.Evaluate(s, rho);
+ loss_function2.Evaluate(s, rho_gold);
+ for (int i = 0; i < 3; ++i) {
+ EXPECT_NEAR(rho[i], rho_gold[i], 1e-12);
+ }
+
+ // Not taking ownership.
+ HuberLoss loss_function3(0.3);
+ loss_function_wrapper.Reset(&loss_function3, DO_NOT_TAKE_OWNERSHIP);
+ loss_function_wrapper.Evaluate(s, rho);
+ loss_function3.Evaluate(s, rho_gold);
+ for (int i = 0; i < 3; ++i) {
+ EXPECT_NEAR(rho[i], rho_gold[i], 1e-12);
+ }
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/map_util.h b/internal/ceres/map_util.h
new file mode 100644
index 0000000..ddf1252
--- /dev/null
+++ b/internal/ceres/map_util.h
@@ -0,0 +1,129 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// Originally by Anton Carver
+
+#ifndef CERES_INTERNAL_MAP_UTIL_H_
+#define CERES_INTERNAL_MAP_UTIL_H_
+
+#include <utility>
+#include "ceres/internal/port.h"
+
+namespace ceres {
+
+// Perform a lookup in a map or hash_map, assuming that the key exists.
+// Crash if it does not.
+//
+// This is intended as a replacement for operator[] as an rvalue (for reading)
+// when the key is guaranteed to exist.
+//
+// operator[] is discouraged for several reasons:
+// * It has a side-effect of inserting missing keys
+// * It is not thread-safe (even when it is not inserting, it can still
+// choose to resize the underlying storage)
+// * It invalidates iterators (when it chooses to resize)
+// * It default constructs a value object even if it doesn't need to
+//
+// This version assumes the key is printable, and includes it in the fatal log
+// message.
+template <class Collection>
+const typename Collection::value_type::second_type&
+FindOrDie(const Collection& collection,
+ const typename Collection::value_type::first_type& key) {
+ typename Collection::const_iterator it = collection.find(key);
+ CHECK(it != collection.end()) << "Map key not found: " << key;
+ return it->second;
+}
+
+// Perform a lookup in a map or hash_map.
+// If the key is present in the map then the value associated with that
+// key is returned, otherwise the value passed as a default is returned.
+template <class Collection>
+const typename Collection::value_type::second_type&
+FindWithDefault(const Collection& collection,
+ const typename Collection::value_type::first_type& key,
+ const typename Collection::value_type::second_type& value) {
+ typename Collection::const_iterator it = collection.find(key);
+ if (it == collection.end()) {
+ return value;
+ }
+ return it->second;
+}
+
+// Insert a new key and value into a map or hash_map.
+// If the key is not present in the map the key and value are
+// inserted, otherwise nothing happens. True indicates that an insert
+// took place, false indicates the key was already present.
+template <class Collection>
+bool InsertIfNotPresent(
+ Collection * const collection,
+ const typename Collection::value_type::first_type& key,
+ const typename Collection::value_type::second_type& value) {
+ pair<typename Collection::iterator, bool> ret =
+ collection->insert(typename Collection::value_type(key, value));
+ return ret.second;
+}
+
+// Perform a lookup in a map or hash_map.
+// Same as above but the returned pointer is not const and can be used to change
+// the stored value.
+template <class Collection>
+typename Collection::value_type::second_type*
+FindOrNull(Collection& collection, // NOLINT
+ const typename Collection::value_type::first_type& key) {
+ typename Collection::iterator it = collection.find(key);
+ if (it == collection.end()) {
+ return 0;
+ }
+ return &it->second;
+}
+
+// Test to see if a set, map, hash_set or hash_map contains a particular key.
+// Returns true if the key is in the collection.
+template <class Collection, class Key>
+bool ContainsKey(const Collection& collection, const Key& key) {
+ typename Collection::const_iterator it = collection.find(key);
+ return it != collection.end();
+}
+
+// Inserts a new key/value into a map or hash_map.
+// Dies if the key is already present.
+template<class Collection>
+void InsertOrDie(Collection* const collection,
+ const typename Collection::value_type::first_type& key,
+ const typename Collection::value_type::second_type& data) {
+ typedef typename Collection::value_type value_type;
+ CHECK(collection->insert(value_type(key, data)).second)
+ << "duplicate key: " << key;
+}
+
+} // namespace ceres
+
+#endif // CERES_INTERNAL_MAP_UTIL_H_
diff --git a/internal/ceres/matrix.proto b/internal/ceres/matrix.proto
new file mode 100644
index 0000000..55a01d2
--- /dev/null
+++ b/internal/ceres/matrix.proto
@@ -0,0 +1,143 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+syntax = "proto2";
+
+package ceres.internal;
+
+message BlockProto {
+ // The span of the block.
+ optional int32 size = 1;
+
+ // Position along the row or column (depending on storage orientation).
+ optional int32 position = 2;
+}
+
+message CellProto {
+ // Column or row block id as appropriate.
+ optional int32 block_id = 1;
+
+ // Position in the values array the cell is located. Each cell is stored as a
+ // row-major chunk inside the values array.
+ optional int32 position = 2;
+}
+
+// A single row or column, depending on the matrix type.
+message CompressedRowProto {
+ optional BlockProto block = 2;
+ repeated CellProto cells = 1;
+}
+
+message BlockStructureProto {
+ repeated BlockProto cols = 1;
+ repeated CompressedRowProto rows = 2;
+}
+
+// A block sparse matrix, either in column major or row major format.
+message BlockSparseMatrixProto {
+ optional int64 num_rows = 2;
+ optional int64 num_cols = 3;
+ optional int64 num_nonzeros = 4;
+ repeated double values = 1 [packed=true];
+
+ optional BlockStructureProto block_structure = 5;
+}
+
+message TripletSparseMatrixProto {
+ optional int64 num_rows = 4;
+ optional int64 num_cols = 5;
+ optional int64 num_nonzeros = 6;
+
+ // The data is stored as three arrays. For each i, values(i) is stored at the
+ // location (rows(i), cols(i)). If the there are multiple entries with the
+ // same (rows(i), cols(i)), the values entries corresponding to them are
+ // summed up.
+ repeated int64 rows = 1 [packed=true];
+ repeated int64 cols = 2 [packed=true];
+ repeated double values = 3 [packed=true];
+}
+
+message CompressedRowSparseMatrixProto {
+ optional int64 num_rows = 4;
+ optional int64 num_cols = 5;
+
+ repeated int64 rows = 1 [packed=true];
+ repeated int64 cols = 2 [packed=true];
+ repeated double values = 3 [packed=true];
+}
+
+message DenseSparseMatrixProto {
+ optional int64 num_rows = 1;
+ optional int64 num_cols = 2;
+
+ // Entries are stored in row-major order.
+ repeated double values = 3 [packed=true];
+}
+
+// A sparse matrix. It is a union; only one field is permitted. If new sparse
+// implementations are added, update this proto accordingly.
+message SparseMatrixProto {
+ optional TripletSparseMatrixProto triplet_matrix = 1;
+ optional BlockSparseMatrixProto block_matrix = 2;
+ optional CompressedRowSparseMatrixProto compressed_row_matrix = 3;
+ optional DenseSparseMatrixProto dense_matrix = 4;
+}
+
+// A linear least squares problem.
+//
+// Given a matrix A, an optional diagonal matrix D as a vector, and a vector b,
+// the proto represents the following linear least squares problem.
+//
+// | A | x = | b |
+// | D | | 0 |
+//
+// If D is empty, then the problem is considered to be
+//
+// A x = b
+//
+// The desired solution for the problem is the vector x that solves the
+// following optimization problem:
+//
+// arg min_x ||Ax - b||^2 + ||Dx||^2
+//
+// If x is present, then it is the expected solution to the
+// problem. The dimensions of A, b, x, and D should be consistent.
+message LinearLeastSquaresProblemProto {
+ optional SparseMatrixProto a = 1;
+ repeated double b = 2 [packed=true];
+ repeated double d = 3 [packed=true];
+ repeated double x = 4 [packed=true];
+ // If the problem is of SfM type, i.e it has a generalized
+ // bi-partite structure, then num_eliminate_blocks is the number of
+ // column blocks that are to eliminated in the formation of the
+ // Schur complement. For more details see
+ // explicit_schur_complement_solver.h.
+ optional int32 num_eliminate_blocks = 5;
+}
diff --git a/internal/ceres/matrix_proto.h b/internal/ceres/matrix_proto.h
new file mode 100644
index 0000000..94b3076
--- /dev/null
+++ b/internal/ceres/matrix_proto.h
@@ -0,0 +1,40 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// A portability header to make optional protocol buffer support less intrusive.
+
+#ifndef CERES_INTERNAL_MATRIX_PROTO_H_
+#define CERES_INTERNAL_MATRIX_PROTO_H_
+
+#ifndef CERES_NO_PROTOCOL_BUFFERS
+#include "ceres/matrix.pb.h"
+#endif
+
+#endif // CERES_INTERNAL_MATRIX_PROTO_H_
diff --git a/internal/ceres/miniglog/glog/logging.cc b/internal/ceres/miniglog/glog/logging.cc
new file mode 100644
index 0000000..32a78ce
--- /dev/null
+++ b/internal/ceres/miniglog/glog/logging.cc
@@ -0,0 +1,39 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "glog/logging.h"
+
+namespace google {
+
+// This is the set of log sinks. This must be in a separate library to ensure
+// that there is only one instance of this across the entire program.
+std::set<google::LogSink *> log_sinks_global;
+
+} // namespace ceres
diff --git a/internal/ceres/miniglog/glog/logging.h b/internal/ceres/miniglog/glog/logging.h
new file mode 100644
index 0000000..1fc137b
--- /dev/null
+++ b/internal/ceres/miniglog/glog/logging.h
@@ -0,0 +1,391 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: settinger@google.com (Scott Ettinger)
+// keir@google.com (Keir Mierle)
+//
+// Simplified Glog style logging with Android support. Supported macros in
+// decreasing severity level per line:
+//
+// VLOG(2), VLOG(N)
+// VLOG(1),
+// LOG(INFO), VLOG(0), LG
+// LOG(WARNING),
+// LOG(ERROR),
+// LOG(FATAL),
+//
+// With VLOG(n), the output is directed to one of the 5 Android log levels:
+//
+// 2 - Verbose
+// 1 - Debug
+// 0 - Info
+// -1 - Warning
+// -2 - Error
+// -3 - Fatal
+//
+// Any logging of level 2 and above is directed to the Verbose level. All
+// Android log output is tagged with the string "native".
+//
+// If the symbol ANDROID is not defined, all output goes to std::cerr.
+// This allows code to be built on a different system for debug.
+//
+// Portions of this code are taken from the GLOG package. This code is only a
+// small subset of the GLOG functionality. Notable differences from GLOG
+// behavior include lack of support for displaying unprintable characters and
+// lack of stack trace information upon failure of the CHECK macros. On
+// non-Android systems, log output goes to std::cerr and is not written to a
+// file.
+//
+// CHECK macros are defined to test for conditions within code. Any CHECK that
+// fails will log the failure and terminate the application.
+// e.g. CHECK_GE(3, 2) will pass while CHECK_GE(3, 4) will fail after logging
+// "Check failed 3 >= 4".
+//
+// The following CHECK macros are defined:
+//
+// CHECK(condition) - fails if condition is false and logs condition.
+// CHECK_NOTNULL(variable) - fails if the variable is NULL.
+//
+// The following binary check macros are also defined :
+//
+// Macro Operator equivalent
+// -------------------- -------------------
+// CHECK_EQ(val1, val2) val1 == val2
+// CHECK_NE(val1, val2) val1 != val2
+// CHECK_GT(val1, val2) val1 > val2
+// CHECK_GE(val1, val2) val1 >= val2
+// CHECK_LT(val1, val2) val1 < val2
+// CHECK_LE(val1, val2) val1 <= val2
+//
+// Debug only versions of all of the check macros are also defined. These
+// macros generate no code in a release build, but avoid unused variable
+// warnings / errors.
+//
+// To use the debug only versions, prepend a D to the normal check macros, e.g.
+// DCHECK_EQ(a, b).
+
+#ifndef CERCES_INTERNAL_MINIGLOG_GLOG_LOGGING_H_
+#define CERCES_INTERNAL_MINIGLOG_GLOG_LOGGING_H_
+
+#ifdef ANDROID
+#include <android/log.h>
+#endif // ANDROID
+
+#include <algorithm>
+#include <iostream>
+#include <string>
+#include <fstream>
+#include <set>
+#include <sstream>
+#include <vector>
+
+// Log severity level constants.
+const int FATAL = -3;
+const int ERROR = -2;
+const int WARNING = -1;
+const int INFO = 0;
+
+// ------------------------- Glog compatibility ------------------------------
+
+namespace google {
+
+typedef int LogSeverity;
+const int INFO = ::INFO;
+const int WARNING = ::WARNING;
+const int ERROR = ::ERROR;
+const int FATAL = ::FATAL;
+
+// Sink class used for integration with mock and test functions. If sinks are
+// added, all log output is also sent to each sink through the send function.
+// In this implementation, WaitTillSent() is called immediately after the send.
+// This implementation is not thread safe.
+class LogSink {
+ public:
+ virtual ~LogSink() {}
+ virtual void send(LogSeverity severity,
+ const char* full_filename,
+ const char* base_filename,
+ int line,
+ const struct tm* tm_time,
+ const char* message,
+ size_t message_len) = 0;
+ virtual void WaitTillSent() = 0;
+};
+
+// Global set of log sinks. The actual object is defined in logging.cc.
+extern std::set<LogSink *> log_sinks_global;
+
+inline void InitGoogleLogging(char *argv) {
+ // Do nothing; this is ignored.
+}
+
+// Note: the Log sink functions are not thread safe.
+inline void AddLogSink(LogSink *sink) {
+ // TODO(settinger): Add locks for thread safety.
+ log_sinks_global.insert(sink);
+}
+inline void RemoveLogSink(LogSink *sink) {
+ log_sinks_global.erase(sink);
+}
+
+} // namespace google
+
+// ---------------------------- Logger Class --------------------------------
+
+// Class created for each use of the logging macros.
+// The logger acts as a stream and routes the final stream contents to the
+// Android logcat output at the proper filter level. If ANDROID is not
+// defined, output is directed to std::cerr. This class should not
+// be directly instantiated in code, rather it should be invoked through the
+// use of the log macros LG, LOG, or VLOG.
+class MessageLogger {
+ public:
+ MessageLogger(const char *file, int line, const char *tag, int severity)
+ : file_(file), line_(line), tag_(tag), severity_(severity) {
+ // Pre-pend the stream with the file and line number.
+ StripBasename(std::string(file), &filename_only_);
+ stream_ << filename_only_ << ":" << line << " ";
+ }
+
+ // Output the contents of the stream to the proper channel on destruction.
+ ~MessageLogger() {
+ stream_ << "\n";
+
+#ifdef ANDROID
+ static const int android_log_levels[] = {
+ ANDROID_LOG_FATAL, // LOG(FATAL)
+ ANDROID_LOG_ERROR, // LOG(ERROR)
+ ANDROID_LOG_WARN, // LOG(WARNING)
+ ANDROID_LOG_INFO, // LOG(INFO), LG, VLOG(0)
+ ANDROID_LOG_DEBUG, // VLOG(1)
+ ANDROID_LOG_VERBOSE, // VLOG(2) .. VLOG(N)
+ };
+
+ // Bound the logging level.
+ const int kMaxVerboseLevel = 2;
+ int android_level_index = std::min(std::max(FATAL, severity_),
+ kMaxVerboseLevel) - FATAL;
+ int android_log_level = android_log_levels[android_level_index];
+
+ // Output the log string the Android log at the appropriate level.
+ __android_log_print(android_log_level, tag_.c_str(), stream_.str().c_str());
+
+ // Indicate termination if needed.
+ if (severity_ == FATAL) {
+ __android_log_print(ANDROID_LOG_FATAL,
+ tag_.c_str(),
+ "terminating.\n");
+ }
+#else
+ // If not building on Android, log all output to std::cerr.
+ std::cerr << stream_.str();
+#endif // ANDROID
+
+ LogToSinks(severity_);
+ WaitForSinks();
+
+ // Android logging at level FATAL does not terminate execution, so abort()
+ // is still required to stop the program.
+ if (severity_ == FATAL) {
+ abort();
+ }
+ }
+
+ // Return the stream associated with the logger object.
+ std::stringstream &stream() { return stream_; }
+
+ private:
+ void LogToSinks(int severity) {
+ time_t rawtime;
+ struct tm* timeinfo;
+
+ time (&rawtime);
+ timeinfo = localtime(&rawtime);
+ std::set<google::LogSink*>::iterator iter;
+ // Send the log message to all sinks.
+ for (iter = google::log_sinks_global.begin();
+ iter != google::log_sinks_global.end(); ++iter) {
+ (*iter)->send(severity, file_.c_str(), filename_only_.c_str(), line_,
+ timeinfo, stream_.str().c_str(), stream_.str().size());
+ }
+ }
+
+ void WaitForSinks() {
+ // TODO(settinger): Add locks for thread safety.
+ std::set<google::LogSink *>::iterator iter;
+
+ // Call WaitTillSent() for all sinks.
+ for (iter = google::log_sinks_global.begin();
+ iter != google::log_sinks_global.end(); ++iter) {
+ (*iter)->WaitTillSent();
+ }
+ }
+
+ void StripBasename(const std::string &full_path, std::string *filename) {
+ // TODO(settinger): add support for OS with different path separators.
+ const char kSeparator = '/';
+ size_t pos = full_path.rfind(kSeparator);
+ if (pos != std::string::npos) {
+ *filename = full_path.substr(pos + 1, std::string::npos);
+ } else {
+ *filename = full_path;
+ }
+ }
+
+ std::string file_;
+ std::string filename_only_;
+ int line_;
+ std::string tag_;
+ std::stringstream stream_;
+ int severity_;
+};
+
+// ---------------------- Logging Macro definitions --------------------------
+
+#define LG MessageLogger((char *)__FILE__, __LINE__, "native", \
+ INFO).stream()
+
+#define LOG(n) MessageLogger((char *)__FILE__, __LINE__, "native", \
+ n).stream()
+
+#define VLOG(n) MessageLogger((char *)__FILE__, __LINE__, "native", \
+ n).stream()
+
+// Currently, VLOG is always on.
+#define VLOG_IS_ON(x) true
+
+// ---------------------------- CHECK helpers --------------------------------
+
+// This class is used to explicitly ignore values in the conditional
+// logging macros. This avoids compiler warnings like "value computed
+// is not used" and "statement has no effect".
+class LoggerVoidify {
+ public:
+ LoggerVoidify() { }
+ // This has to be an operator with a precedence lower than << but
+ // higher than ?:
+ void operator&(const std::ostream &s) { }
+};
+
+// Log only if condition is met. Otherwise evaluates to void.
+#define LOG_IF(severity, condition) \
+ condition ? (void) 0 : LoggerVoidify() & LOG(severity)
+
+// Log a message and terminate.
+template<class T>
+void LogMessageFatal(const char *file, int line, const T &message) {
+ MessageLogger((char *)__FILE__, __LINE__, "native", FATAL).stream()
+ << message;
+}
+
+// ---------------------------- CHECK macros ---------------------------------
+
+// Check for a given boolean condition.
+#define CHECK(condition) LOG_IF(FATAL, condition) \
+ << "Check failed: " #condition " "
+
+#ifndef NDEBUG
+// Debug only version of CHECK
+#define DCHECK(condition) LOG_IF(FATAL, condition) \
+ << "Check failed: " #condition " "
+#else
+// Optimized version - generates no code.
+#define DCHECK(condition) if (false) LOG_IF(FATAL, condition) \
+ << "Check failed: " #condition " "
+#endif // NDEBUG
+
+// ------------------------- CHECK_OP macros ---------------------------------
+
+// Generic binary operator check macro. This should not be directly invoked,
+// instead use the binary comparison macros defined below.
+#define CHECK_OP(val1, val2, op) LOG_IF(FATAL, (val1 op val2)) \
+ << "Check failed: " #val1 " " #op " " #val2 " "
+
+// Check_op macro definitions
+#define CHECK_EQ(val1, val2) CHECK_OP(val1, val2, ==)
+#define CHECK_NE(val1, val2) CHECK_OP(val1, val2, !=)
+#define CHECK_LE(val1, val2) CHECK_OP(val1, val2, <=)
+#define CHECK_LT(val1, val2) CHECK_OP(val1, val2, <)
+#define CHECK_GE(val1, val2) CHECK_OP(val1, val2, >=)
+#define CHECK_GT(val1, val2) CHECK_OP(val1, val2, >)
+
+#ifndef NDEBUG
+// Debug only versions of CHECK_OP macros.
+#define DCHECK_EQ(val1, val2) CHECK_OP(val1, val2, ==)
+#define DCHECK_NE(val1, val2) CHECK_OP(val1, val2, !=)
+#define DCHECK_LE(val1, val2) CHECK_OP(val1, val2, <=)
+#define DCHECK_LT(val1, val2) CHECK_OP(val1, val2, <)
+#define DCHECK_GE(val1, val2) CHECK_OP(val1, val2, >=)
+#define DCHECK_GT(val1, val2) CHECK_OP(val1, val2, >)
+#else
+// These versions generate no code in optimized mode.
+#define DCHECK_EQ(val1, val2) if (false) CHECK_OP(val1, val2, ==)
+#define DCHECK_NE(val1, val2) if (false) CHECK_OP(val1, val2, !=)
+#define DCHECK_LE(val1, val2) if (false) CHECK_OP(val1, val2, <=)
+#define DCHECK_LT(val1, val2) if (false) CHECK_OP(val1, val2, <)
+#define DCHECK_GE(val1, val2) if (false) CHECK_OP(val1, val2, >=)
+#define DCHECK_GT(val1, val2) if (false) CHECK_OP(val1, val2, >)
+#endif // NDEBUG
+
+// ---------------------------CHECK_NOTNULL macros ---------------------------
+
+// Helpers for CHECK_NOTNULL(). Two are necessary to support both raw pointers
+// and smart pointers.
+template <typename T>
+T& CheckNotNullCommon(const char *file, int line, const char *names, T& t) {
+ if (t == NULL) {
+ LogMessageFatal(file, line, std::string(names));
+ }
+ return t;
+}
+
+template <typename T>
+T* CheckNotNull(const char *file, int line, const char *names, T* t) {
+ return CheckNotNullCommon(file, line, names, t);
+}
+
+template <typename T>
+T& CheckNotNull(const char *file, int line, const char *names, T& t) {
+ return CheckNotNullCommon(file, line, names, t);
+}
+
+// Check that a pointer is not null.
+#define CHECK_NOTNULL(val) \
+ CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val))
+
+#ifndef NDEBUG
+// Debug only version of CHECK_NOTNULL
+#define DCHECK_NOTNULL(val) \
+ CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val))
+#else
+// Optimized version - generates no code.
+#define DCHECK_NOTNULL(val) if (false)\
+ CheckNotNull(__FILE__, __LINE__, "'" #val "' Must be non NULL", (val))
+#endif // NDEBUG
+
+#endif // CERCES_INTERNAL_MINIGLOG_GLOG_LOGGING_H_
diff --git a/internal/ceres/minimizer.h b/internal/ceres/minimizer.h
new file mode 100644
index 0000000..22c10f0
--- /dev/null
+++ b/internal/ceres/minimizer.h
@@ -0,0 +1,149 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_MINIMIZER_H_
+#define CERES_INTERNAL_MINIMIZER_H_
+
+#include <vector>
+#include "ceres/solver.h"
+#include "ceres/iteration_callback.h"
+
+namespace ceres {
+namespace internal {
+
+class Evaluator;
+class LinearSolver;
+class SparseMatrix;
+class TrustRegionStrategy;
+
+// Interface for non-linear least squares solvers.
+class Minimizer {
+ public:
+ // Options struct to control the behaviour of the Minimizer. Please
+ // see solver.h for detailed information about the meaning and
+ // default values of each of these parameters.
+ struct Options {
+ Options() {
+ Init(Solver::Options());
+ }
+
+ explicit Options(const Solver::Options& options) {
+ Init(options);
+ }
+
+ void Init(const Solver::Options& options) {
+ num_threads = options.num_threads;
+ max_num_iterations = options.max_num_iterations;
+ max_solver_time_in_seconds = options.max_solver_time_in_seconds;
+ max_step_solver_retries = 5;
+ gradient_tolerance = options.gradient_tolerance;
+ parameter_tolerance = options.parameter_tolerance;
+ function_tolerance = options.function_tolerance;
+ min_relative_decrease = options.min_relative_decrease;
+ eta = options.eta;
+ jacobi_scaling = options.jacobi_scaling;
+ use_nonmonotonic_steps = options.use_nonmonotonic_steps;
+ max_consecutive_nonmonotonic_steps =
+ options.max_consecutive_nonmonotonic_steps;
+ lsqp_dump_directory = options.lsqp_dump_directory;
+ lsqp_iterations_to_dump = options.lsqp_iterations_to_dump;
+ lsqp_dump_format_type = options.lsqp_dump_format_type;
+ max_num_consecutive_invalid_steps =
+ options.max_num_consecutive_invalid_steps;
+ min_trust_region_radius = options.min_trust_region_radius;
+ evaluator = NULL;
+ trust_region_strategy = NULL;
+ jacobian = NULL;
+ callbacks = options.callbacks;
+ inner_iteration_minimizer = NULL;
+ }
+
+ int max_num_iterations;
+ double max_solver_time_in_seconds;
+
+ // Number of times the linear solver should be retried in case of
+ // numerical failure. The retries are done by exponentially scaling up
+ // mu at each retry. This leads to stronger and stronger
+ // regularization making the linear least squares problem better
+ // conditioned at each retry.
+ int num_threads;
+ int max_step_solver_retries;
+ double gradient_tolerance;
+ double parameter_tolerance;
+ double function_tolerance;
+ double min_relative_decrease;
+ double eta;
+ bool jacobi_scaling;
+ bool use_nonmonotonic_steps;
+ int max_consecutive_nonmonotonic_steps;
+ vector<int> lsqp_iterations_to_dump;
+ DumpFormatType lsqp_dump_format_type;
+ string lsqp_dump_directory;
+ int max_num_consecutive_invalid_steps;
+ int min_trust_region_radius;
+
+ // List of callbacks that are executed by the Minimizer at the end
+ // of each iteration.
+ //
+ // The Options struct does not own these pointers.
+ vector<IterationCallback*> callbacks;
+
+ // Object responsible for evaluating the cost, residuals and
+ // Jacobian matrix. The Options struct does not own this pointer.
+ Evaluator* evaluator;
+
+ // Object responsible for actually computing the trust region
+ // step, and sizing the trust region radius. The Options struct
+ // does not own this pointer.
+ TrustRegionStrategy* trust_region_strategy;
+
+ // Object holding the Jacobian matrix. It is assumed that the
+ // sparsity structure of the matrix has already been initialized
+ // and will remain constant for the life time of the
+ // optimization. The Options struct does not own this pointer.
+ SparseMatrix* jacobian;
+
+ Minimizer* inner_iteration_minimizer;
+ };
+
+ virtual ~Minimizer() {}
+
+ // Note: The minimizer is expected to update the state of the
+ // parameters array every iteration. This is required for the
+ // StateUpdatingCallback to work.
+ virtual void Minimize(const Options& options,
+ double* parameters,
+ Solver::Summary* summary) = 0;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_MINIMIZER_H_
diff --git a/internal/ceres/minimizer_test.cc b/internal/ceres/minimizer_test.cc
new file mode 100644
index 0000000..1058036
--- /dev/null
+++ b/internal/ceres/minimizer_test.cc
@@ -0,0 +1,63 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "gtest/gtest.h"
+#include "ceres/iteration_callback.h"
+#include "ceres/minimizer.h"
+#include "ceres/solver.h"
+
+namespace ceres {
+namespace internal {
+
+class FakeIterationCallback : public IterationCallback {
+ public:
+ virtual ~FakeIterationCallback() {}
+ virtual CallbackReturnType operator()(const IterationSummary& summary) {
+ return SOLVER_CONTINUE;
+ }
+};
+
+TEST(MinimizerTest, InitializationCopiesCallbacks) {
+ FakeIterationCallback callback0;
+ FakeIterationCallback callback1;
+
+ Solver::Options solver_options;
+ solver_options.callbacks.push_back(&callback0);
+ solver_options.callbacks.push_back(&callback1);
+
+ Minimizer::Options minimizer_options(solver_options);
+ ASSERT_EQ(2, minimizer_options.callbacks.size());
+
+ EXPECT_EQ(minimizer_options.callbacks[0], &callback0);
+ EXPECT_EQ(minimizer_options.callbacks[1], &callback1);
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/mutex.h b/internal/ceres/mutex.h
new file mode 100644
index 0000000..5090a71
--- /dev/null
+++ b/internal/ceres/mutex.h
@@ -0,0 +1,322 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: Craig Silverstein.
+//
+// A simple mutex wrapper, supporting locks and read-write locks.
+// You should assume the locks are *not* re-entrant.
+//
+// This class is meant to be internal-only and should be wrapped by an
+// internal namespace. Before you use this module, please give the
+// name of your internal namespace for this module. Or, if you want
+// to expose it, you'll want to move it to the Google namespace. We
+// cannot put this class in global namespace because there can be some
+// problems when we have multiple versions of Mutex in each shared object.
+//
+// NOTE: by default, we have #ifdef'ed out the TryLock() method.
+// This is for two reasons:
+// 1) TryLock() under Windows is a bit annoying (it requires a
+// #define to be defined very early).
+// 2) TryLock() is broken for NO_THREADS mode, at least in NDEBUG
+// mode.
+// If you need TryLock(), and either these two caveats are not a
+// problem for you, or you're willing to work around them, then
+// feel free to #define GMUTEX_TRYLOCK, or to remove the #ifdefs
+// in the code below.
+//
+// CYGWIN NOTE: Cygwin support for rwlock seems to be buggy:
+// http://www.cygwin.com/ml/cygwin/2008-12/msg00017.html
+// Because of that, we might as well use windows locks for
+// cygwin. They seem to be more reliable than the cygwin pthreads layer.
+//
+// TRICKY IMPLEMENTATION NOTE:
+// This class is designed to be safe to use during
+// dynamic-initialization -- that is, by global constructors that are
+// run before main() starts. The issue in this case is that
+// dynamic-initialization happens in an unpredictable order, and it
+// could be that someone else's dynamic initializer could call a
+// function that tries to acquire this mutex -- but that all happens
+// before this mutex's constructor has run. (This can happen even if
+// the mutex and the function that uses the mutex are in the same .cc
+// file.) Basically, because Mutex does non-trivial work in its
+// constructor, it's not, in the naive implementation, safe to use
+// before dynamic initialization has run on it.
+//
+// The solution used here is to pair the actual mutex primitive with a
+// bool that is set to true when the mutex is dynamically initialized.
+// (Before that it's false.) Then we modify all mutex routines to
+// look at the bool, and not try to lock/unlock until the bool makes
+// it to true (which happens after the Mutex constructor has run.)
+//
+// This works because before main() starts -- particularly, during
+// dynamic initialization -- there are no threads, so a) it's ok that
+// the mutex operations are a no-op, since we don't need locking then
+// anyway; and b) we can be quite confident our bool won't change
+// state between a call to Lock() and a call to Unlock() (that would
+// require a global constructor in one translation unit to call Lock()
+// and another global constructor in another translation unit to call
+// Unlock() later, which is pretty perverse).
+//
+// That said, it's tricky, and can conceivably fail; it's safest to
+// avoid trying to acquire a mutex in a global constructor, if you
+// can. One way it can fail is that a really smart compiler might
+// initialize the bool to true at static-initialization time (too
+// early) rather than at dynamic-initialization time. To discourage
+// that, we set is_safe_ to true in code (not the constructor
+// colon-initializer) and set it to true via a function that always
+// evaluates to true, but that the compiler can't know always
+// evaluates to true. This should be good enough.
+
+#ifndef CERES_INTERNAL_MUTEX_H_
+#define CERES_INTERNAL_MUTEX_H_
+
+#if defined(CERES_NO_THREADS)
+ typedef int MutexType; // to keep a lock-count
+#elif defined(_WIN32) || defined(__CYGWIN32__) || defined(__CYGWIN64__)
+# define CERES_WIN32_LEAN_AND_MEAN // We only need minimal includes
+# ifdef CERES_GMUTEX_TRYLOCK
+ // We need Windows NT or later for TryEnterCriticalSection(). If you
+ // don't need that functionality, you can remove these _WIN32_WINNT
+ // lines, and change TryLock() to assert(0) or something.
+# ifndef _WIN32_WINNT
+# define _WIN32_WINNT 0x0400
+# endif
+# endif
+// To avoid macro definition of ERROR.
+# define CERES_NOGDI
+// To avoid macro definition of min/max.
+# define CERES_NOMINMAX
+# include <windows.h>
+ typedef CRITICAL_SECTION MutexType;
+#elif defined(CERES_HAVE_PTHREAD) && defined(CERES_HAVE_RWLOCK)
+ // Needed for pthread_rwlock_*. If it causes problems, you could take it
+ // out, but then you'd have to unset CERES_HAVE_RWLOCK (at least on linux --
+ // it *does* cause problems for FreeBSD, or MacOSX, but isn't needed for
+ // locking there.)
+# if defined(__linux__) && !defined(_XOPEN_SOURCE)
+# define _XOPEN_SOURCE 500 // may be needed to get the rwlock calls
+# endif
+# include <pthread.h>
+ typedef pthread_rwlock_t MutexType;
+#elif defined(CERES_HAVE_PTHREAD)
+# include <pthread.h>
+ typedef pthread_mutex_t MutexType;
+#else
+# error Need to implement mutex.h for your architecture, or #define NO_THREADS
+#endif
+
+// We need to include these header files after defining _XOPEN_SOURCE
+// as they may define the _XOPEN_SOURCE macro.
+#include <assert.h>
+#include <stdlib.h> // for abort()
+
+namespace ceres {
+namespace internal {
+
+class Mutex {
+ public:
+ // Create a Mutex that is not held by anybody. This constructor is
+ // typically used for Mutexes allocated on the heap or the stack.
+ // See below for a recommendation for constructing global Mutex
+ // objects.
+ inline Mutex();
+
+ // Destructor
+ inline ~Mutex();
+
+ inline void Lock(); // Block if needed until free then acquire exclusively
+ inline void Unlock(); // Release a lock acquired via Lock()
+#ifdef CERES_GMUTEX_TRYLOCK
+ inline bool TryLock(); // If free, Lock() and return true, else return false
+#endif
+ // Note that on systems that don't support read-write locks, these may
+ // be implemented as synonyms to Lock() and Unlock(). So you can use
+ // these for efficiency, but don't use them anyplace where being able
+ // to do shared reads is necessary to avoid deadlock.
+ inline void ReaderLock(); // Block until free or shared then acquire a share
+ inline void ReaderUnlock(); // Release a read share of this Mutex
+ inline void WriterLock() { Lock(); } // Acquire an exclusive lock
+ inline void WriterUnlock() { Unlock(); } // Release a lock from WriterLock()
+
+ // TODO(hamaji): Do nothing, implement correctly.
+ inline void AssertHeld() {}
+
+ private:
+ MutexType mutex_;
+ // We want to make sure that the compiler sets is_safe_ to true only
+ // when we tell it to, and never makes assumptions is_safe_ is
+ // always true. volatile is the most reliable way to do that.
+ volatile bool is_safe_;
+
+ inline void SetIsSafe() { is_safe_ = true; }
+
+ // Catch the error of writing Mutex when intending MutexLock.
+ Mutex(Mutex* /*ignored*/) {}
+ // Disallow "evil" constructors
+ Mutex(const Mutex&);
+ void operator=(const Mutex&);
+};
+
+// Now the implementation of Mutex for various systems
+#if defined(CERES_NO_THREADS)
+
+// When we don't have threads, we can be either reading or writing,
+// but not both. We can have lots of readers at once (in no-threads
+// mode, that's most likely to happen in recursive function calls),
+// but only one writer. We represent this by having mutex_ be -1 when
+// writing and a number > 0 when reading (and 0 when no lock is held).
+//
+// In debug mode, we assert these invariants, while in non-debug mode
+// we do nothing, for efficiency. That's why everything is in an
+// assert.
+
+Mutex::Mutex() : mutex_(0) { }
+Mutex::~Mutex() { assert(mutex_ == 0); }
+void Mutex::Lock() { assert(--mutex_ == -1); }
+void Mutex::Unlock() { assert(mutex_++ == -1); }
+#ifdef CERES_GMUTEX_TRYLOCK
+bool Mutex::TryLock() { if (mutex_) return false; Lock(); return true; }
+#endif
+void Mutex::ReaderLock() { assert(++mutex_ > 0); }
+void Mutex::ReaderUnlock() { assert(mutex_-- > 0); }
+
+#elif defined(_WIN32) || defined(__CYGWIN32__) || defined(__CYGWIN64__)
+
+Mutex::Mutex() { InitializeCriticalSection(&mutex_); SetIsSafe(); }
+Mutex::~Mutex() { DeleteCriticalSection(&mutex_); }
+void Mutex::Lock() { if (is_safe_) EnterCriticalSection(&mutex_); }
+void Mutex::Unlock() { if (is_safe_) LeaveCriticalSection(&mutex_); }
+#ifdef GMUTEX_TRYLOCK
+bool Mutex::TryLock() { return is_safe_ ?
+ TryEnterCriticalSection(&mutex_) != 0 : true; }
+#endif
+void Mutex::ReaderLock() { Lock(); } // we don't have read-write locks
+void Mutex::ReaderUnlock() { Unlock(); }
+
+#elif defined(CERES_HAVE_PTHREAD) && defined(CERES_HAVE_RWLOCK)
+
+#define CERES_SAFE_PTHREAD(fncall) do { /* run fncall if is_safe_ is true */ \
+ if (is_safe_ && fncall(&mutex_) != 0) abort(); \
+} while (0)
+
+Mutex::Mutex() {
+ SetIsSafe();
+ if (is_safe_ && pthread_rwlock_init(&mutex_, NULL) != 0) abort();
+}
+Mutex::~Mutex() { CERES_SAFE_PTHREAD(pthread_rwlock_destroy); }
+void Mutex::Lock() { CERES_SAFE_PTHREAD(pthread_rwlock_wrlock); }
+void Mutex::Unlock() { CERES_SAFE_PTHREAD(pthread_rwlock_unlock); }
+#ifdef CERES_GMUTEX_TRYLOCK
+bool Mutex::TryLock() { return is_safe_ ?
+ pthread_rwlock_trywrlock(&mutex_) == 0 :
+ true; }
+#endif
+void Mutex::ReaderLock() { CERES_SAFE_PTHREAD(pthread_rwlock_rdlock); }
+void Mutex::ReaderUnlock() { CERES_SAFE_PTHREAD(pthread_rwlock_unlock); }
+#undef CERES_SAFE_PTHREAD
+
+#elif defined(CERES_HAVE_PTHREAD)
+
+#define CERES_SAFE_PTHREAD(fncall) do { /* run fncall if is_safe_ is true */ \
+ if (is_safe_ && fncall(&mutex_) != 0) abort(); \
+} while (0)
+
+Mutex::Mutex() {
+ SetIsSafe();
+ if (is_safe_ && pthread_mutex_init(&mutex_, NULL) != 0) abort();
+}
+Mutex::~Mutex() { CERES_SAFE_PTHREAD(pthread_mutex_destroy); }
+void Mutex::Lock() { CERES_SAFE_PTHREAD(pthread_mutex_lock); }
+void Mutex::Unlock() { CERES_SAFE_PTHREAD(pthread_mutex_unlock); }
+#ifdef CERES_GMUTEX_TRYLOCK
+bool Mutex::TryLock() { return is_safe_ ?
+ pthread_mutex_trylock(&mutex_) == 0 : true; }
+#endif
+void Mutex::ReaderLock() { Lock(); }
+void Mutex::ReaderUnlock() { Unlock(); }
+#undef CERES_SAFE_PTHREAD
+
+#endif
+
+// --------------------------------------------------------------------------
+// Some helper classes
+
+// Note: The weird "Ceres" prefix for the class is a workaround for having two
+// similar mutex.h files included in the same translation unit. This is a
+// problem because macros do not respect C++ namespaces, and as a result, this
+// does not work well (e.g. inside Chrome). The offending macros are
+// "MutexLock(x) COMPILE_ASSERT(false)". To work around this, "Ceres" is
+// prefixed to the class names; this permits defining the classes.
+
+// CeresMutexLock(mu) acquires mu when constructed and releases it when destroyed.
+class CeresMutexLock {
+ public:
+ explicit CeresMutexLock(Mutex *mu) : mu_(mu) { mu_->Lock(); }
+ ~CeresMutexLock() { mu_->Unlock(); }
+ private:
+ Mutex * const mu_;
+ // Disallow "evil" constructors
+ CeresMutexLock(const CeresMutexLock&);
+ void operator=(const CeresMutexLock&);
+};
+
+// CeresReaderMutexLock and CeresWriterMutexLock do the same, for rwlocks
+class CeresReaderMutexLock {
+ public:
+ explicit CeresReaderMutexLock(Mutex *mu) : mu_(mu) { mu_->ReaderLock(); }
+ ~CeresReaderMutexLock() { mu_->ReaderUnlock(); }
+ private:
+ Mutex * const mu_;
+ // Disallow "evil" constructors
+ CeresReaderMutexLock(const CeresReaderMutexLock&);
+ void operator=(const CeresReaderMutexLock&);
+};
+
+class CeresWriterMutexLock {
+ public:
+ explicit CeresWriterMutexLock(Mutex *mu) : mu_(mu) { mu_->WriterLock(); }
+ ~CeresWriterMutexLock() { mu_->WriterUnlock(); }
+ private:
+ Mutex * const mu_;
+ // Disallow "evil" constructors
+ CeresWriterMutexLock(const CeresWriterMutexLock&);
+ void operator=(const CeresWriterMutexLock&);
+};
+
+// Catch bug where variable name is omitted, e.g. MutexLock (&mu);
+#define CeresMutexLock(x) \
+ COMPILE_ASSERT(0, ceres_mutex_lock_decl_missing_var_name)
+#define CeresReaderMutexLock(x) \
+ COMPILE_ASSERT(0, ceres_rmutex_lock_decl_missing_var_name)
+#define CeresWriterMutexLock(x) \
+ COMPILE_ASSERT(0, ceres_wmutex_lock_decl_missing_var_name)
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_MUTEX_H_
diff --git a/internal/ceres/normal_prior.cc b/internal/ceres/normal_prior.cc
new file mode 100644
index 0000000..392d728
--- /dev/null
+++ b/internal/ceres/normal_prior.cc
@@ -0,0 +1,66 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/normal_prior.h"
+
+#include <cstddef>
+#include <vector>
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+NormalPrior::NormalPrior(const Matrix& A, const Vector& b)
+ : A_(A), b_(b) {
+ CHECK_GT(b_.rows(), 0);
+ CHECK_GT(A_.rows(), 0);
+ CHECK_EQ(b_.rows(), A.cols());
+ set_num_residuals(A_.rows());
+ mutable_parameter_block_sizes()->push_back(b_.rows());
+}
+
+bool NormalPrior::Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ ConstVectorRef p(parameters[0], parameter_block_sizes()[0]);
+ VectorRef r(residuals, num_residuals());
+ // The following line should read
+ // r = A_ * (p - b_);
+ // The extra eval is to get around a bug in the eigen library.
+ r = A_ * (p - b_).eval();
+ if ((jacobians != NULL) && (jacobians[0] != NULL)) {
+ MatrixRef(jacobians[0], num_residuals(), parameter_block_sizes()[0]) = A_;
+ }
+ return true;
+}
+
+} // namespace ceres
diff --git a/internal/ceres/normal_prior_test.cc b/internal/ceres/normal_prior_test.cc
new file mode 100644
index 0000000..67af881
--- /dev/null
+++ b/internal/ceres/normal_prior_test.cc
@@ -0,0 +1,133 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/normal_prior.h"
+
+#include <cstddef>
+
+#include "gtest/gtest.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/random.h"
+
+namespace ceres {
+namespace internal {
+
+void RandomVector(Vector* v) {
+ for (int r = 0; r < v->rows(); ++r)
+ (*v)[r] = 2 * RandDouble() - 1;
+}
+
+void RandomMatrix(Matrix* m) {
+ for (int r = 0; r < m->rows(); ++r) {
+ for (int c = 0; c < m->cols(); ++c) {
+ (*m)(r, c) = 2 * RandDouble() - 1;
+ }
+ }
+}
+
+TEST(NormalPriorTest, ResidualAtRandomPosition) {
+ srand(5);
+
+ for (int num_rows = 1; num_rows < 5; ++num_rows) {
+ for (int num_cols = 1; num_cols < 5; ++num_cols) {
+ Vector b(num_cols);
+ RandomVector(&b);
+
+ Matrix A(num_rows, num_cols);
+ RandomMatrix(&A);
+
+ double * x = new double[num_cols];
+ for (int i = 0; i < num_cols; ++i)
+ x[i] = 2 * RandDouble() - 1;
+
+ double * jacobian = new double[num_rows * num_cols];
+ Vector residuals(num_rows);
+
+ NormalPrior prior(A, b);
+ prior.Evaluate(&x, residuals.data(), &jacobian);
+
+ // Compare the norm of the residual
+ double residual_diff_norm =
+ (residuals - A * (VectorRef(x, num_cols) - b)).squaredNorm();
+ EXPECT_NEAR(residual_diff_norm, 0, 1e-10);
+
+ // Compare the jacobians
+ MatrixRef J(jacobian, num_rows, num_cols);
+ double jacobian_diff_norm = (J - A).norm();
+ EXPECT_NEAR(jacobian_diff_norm, 0.0, 1e-10);
+
+ delete []x;
+ delete []jacobian;
+ }
+ }
+}
+
+TEST(NormalPriorTest, ResidualAtRandomPositionNullJacobians) {
+ srand(5);
+
+ for (int num_rows = 1; num_rows < 5; ++num_rows) {
+ for (int num_cols = 1; num_cols < 5; ++num_cols) {
+ Vector b(num_cols);
+ RandomVector(&b);
+
+ Matrix A(num_rows, num_cols);
+ RandomMatrix(&A);
+
+ double * x = new double[num_cols];
+ for (int i = 0; i < num_cols; ++i)
+ x[i] = 2 * RandDouble() - 1;
+
+ double* jacobians[1];
+ jacobians[0] = NULL;
+
+ Vector residuals(num_rows);
+
+ NormalPrior prior(A, b);
+ prior.Evaluate(&x, residuals.data(), jacobians);
+
+ // Compare the norm of the residual
+ double residual_diff_norm =
+ (residuals - A * (VectorRef(x, num_cols) - b)).squaredNorm();
+ EXPECT_NEAR(residual_diff_norm, 0, 1e-10);
+
+ prior.Evaluate(&x, residuals.data(), NULL);
+ // Compare the norm of the residual
+ residual_diff_norm =
+ (residuals - A * (VectorRef(x, num_cols) - b)).squaredNorm();
+ EXPECT_NEAR(residual_diff_norm, 0, 1e-10);
+
+
+ delete []x;
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/numeric_diff_cost_function_test.cc b/internal/ceres/numeric_diff_cost_function_test.cc
new file mode 100644
index 0000000..df12eb9
--- /dev/null
+++ b/internal/ceres/numeric_diff_cost_function_test.cc
@@ -0,0 +1,271 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "ceres/numeric_diff_cost_function.h"
+
+#include <algorithm>
+#include <cmath>
+#include <string>
+#include <vector>
+#include "ceres/cost_function.h"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/sized_cost_function.h"
+#include "ceres/stringprintf.h"
+#include "ceres/test_util.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+// y1 = x1'x2 -> dy1/dx1 = x2, dy1/dx2 = x1
+// y2 = (x1'x2)^2 -> dy2/dx1 = 2 * x2 * (x1'x2), dy2/dx2 = 2 * x1 * (x1'x2)
+// y3 = x2'x2 -> dy3/dx1 = 0, dy3/dx2 = 2 * x2
+class TestCostFunction : public CostFunction {
+ public:
+ TestCostFunction() {
+ set_num_residuals(3);
+ mutable_parameter_block_sizes()->push_back(5); // x1.
+ mutable_parameter_block_sizes()->push_back(5); // x2.
+ }
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ (void) jacobians; // Ignored.
+
+ residuals[0] = residuals[1] = residuals[2] = 0;
+ for (int i = 0; i < 5; ++i) {
+ residuals[0] += parameters[0][i] * parameters[1][i];
+ residuals[2] += parameters[1][i] * parameters[1][i];
+ }
+ residuals[1] = residuals[0] * residuals[0];
+ return true;
+ }
+};
+
+TEST(NumericDiffCostFunction, EasyCase) {
+ // Try both central and forward difference.
+ internal::scoped_ptr<CostFunction> cfs[2];
+ cfs[0].reset(
+ new NumericDiffCostFunction<TestCostFunction,
+ CENTRAL,
+ 3, /* number of residuals */
+ 5, /* size of x1 */
+ 5 /* size of x2 */>(
+ new TestCostFunction, TAKE_OWNERSHIP));
+
+ cfs[1].reset(
+ new NumericDiffCostFunction<TestCostFunction,
+ FORWARD,
+ 3, /* number of residuals */
+ 5, /* size of x1 */
+ 5 /* size of x2 */>(
+ new TestCostFunction, TAKE_OWNERSHIP));
+
+ for (int c = 0; c < 2; ++c) {
+ CostFunction *cost_function = cfs[c].get();
+
+ double x1[] = { 1.0, 2.0, 3.0, 4.0, 5.0 };
+ double x2[] = { 9.0, 9.0, 5.0, 5.0, 1.0 };
+ double *parameters[] = { &x1[0], &x2[0] };
+
+ double dydx1[15]; // 3 x 5, row major.
+ double dydx2[15]; // 3 x 5, row major.
+ double *jacobians[2] = { &dydx1[0], &dydx2[0] };
+
+ double residuals[3] = {-1e-100, -2e-100, -3e-100 };
+
+ ASSERT_TRUE(cost_function->Evaluate(¶meters[0],
+ &residuals[0],
+ &jacobians[0]));
+
+ EXPECT_EQ(residuals[0], 67);
+ EXPECT_EQ(residuals[1], 4489);
+ EXPECT_EQ(residuals[2], 213);
+
+ for (int i = 0; i < 5; ++i) {
+ LOG(INFO) << "c = " << c << " i = " << i;
+ const double kEps = c == 0 ? /* central */ 3e-9 : /* forward */ 2e-5;
+
+ ExpectClose(x2[i], dydx1[5 * 0 + i], kEps); // y1
+ ExpectClose(x1[i], dydx2[5 * 0 + i], kEps);
+ ExpectClose(2 * x2[i] * residuals[0], dydx1[5 * 1 + i], kEps); // y2
+ ExpectClose(2 * x1[i] * residuals[0], dydx2[5 * 1 + i], kEps);
+ ExpectClose(0.0, dydx1[5 * 2 + i], kEps); // y3
+ ExpectClose(2 * x2[i], dydx2[5 * 2 + i], kEps);
+ }
+ }
+}
+
+// y1 = sin(x1'x2)
+// y2 = exp(-x1'x2 / 10)
+//
+// dy1/dx1 = x2 * cos(x1'x2), dy1/dx2 = x1 * cos(x1'x2)
+// dy2/dx1 = -x2 * exp(-x1'x2 / 10) / 10, dy2/dx2 = -x2 * exp(-x1'x2 / 10) / 10
+class TranscendentalTestCostFunction : public CostFunction {
+ public:
+ TranscendentalTestCostFunction() {
+ set_num_residuals(2);
+ mutable_parameter_block_sizes()->push_back(5); // x1.
+ mutable_parameter_block_sizes()->push_back(5); // x2.
+ }
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ (void) jacobians; // Ignored.
+
+ double x1x2 = 0;
+ for (int i = 0; i < 5; ++i) {
+ x1x2 += parameters[0][i] * parameters[1][i];
+ }
+ residuals[0] = sin(x1x2);
+ residuals[1] = exp(-x1x2 / 10);
+ return true;
+ }
+};
+
+TEST(NumericDiffCostFunction, TransendentalOperationsInCostFunction) {
+ // Try both central and forward difference.
+ internal::scoped_ptr<CostFunction> cfs[2];
+ cfs[0].reset(
+ new NumericDiffCostFunction<TranscendentalTestCostFunction,
+ CENTRAL,
+ 2, /* number of residuals */
+ 5, /* size of x1 */
+ 5 /* size of x2 */>(
+ new TranscendentalTestCostFunction, TAKE_OWNERSHIP));
+
+ cfs[1].reset(
+ new NumericDiffCostFunction<TranscendentalTestCostFunction,
+ FORWARD,
+ 2, /* number of residuals */
+ 5, /* size of x1 */
+ 5 /* size of x2 */>(
+ new TranscendentalTestCostFunction, TAKE_OWNERSHIP));
+
+ for (int c = 0; c < 2; ++c) {
+ CostFunction *cost_function = cfs[c].get();
+
+ struct {
+ double x1[5];
+ double x2[5];
+ } kTests[] = {
+ { { 1.0, 2.0, 3.0, 4.0, 5.0 }, // No zeros.
+ { 9.0, 9.0, 5.0, 5.0, 1.0 },
+ },
+ { { 0.0, 2.0, 3.0, 0.0, 5.0 }, // Some zeros x1.
+ { 9.0, 9.0, 5.0, 5.0, 1.0 },
+ },
+ { { 1.0, 2.0, 3.0, 1.0, 5.0 }, // Some zeros x2.
+ { 0.0, 9.0, 0.0, 5.0, 0.0 },
+ },
+ { { 0.0, 0.0, 0.0, 0.0, 0.0 }, // All zeros x1.
+ { 9.0, 9.0, 5.0, 5.0, 1.0 },
+ },
+ { { 1.0, 2.0, 3.0, 4.0, 5.0 }, // All zeros x2.
+ { 0.0, 0.0, 0.0, 0.0, 0.0 },
+ },
+ { { 0.0, 0.0, 0.0, 0.0, 0.0 }, // All zeros.
+ { 0.0, 0.0, 0.0, 0.0, 0.0 },
+ },
+ };
+ for (int k = 0; k < CERES_ARRAYSIZE(kTests); ++k) {
+ double *x1 = &(kTests[k].x1[0]);
+ double *x2 = &(kTests[k].x2[0]);
+ double *parameters[] = { x1, x2 };
+
+ double dydx1[10];
+ double dydx2[10];
+ double *jacobians[2] = { &dydx1[0], &dydx2[0] };
+
+ double residuals[2];
+
+ ASSERT_TRUE(cost_function->Evaluate(¶meters[0],
+ &residuals[0],
+ &jacobians[0]));
+ LOG(INFO) << "Ran evaluate for test k=" << k << " c=" << c;
+
+ double x1x2 = 0;
+ for (int i = 0; i < 5; ++i) {
+ x1x2 += x1[i] * x2[i];
+ }
+
+ for (int i = 0; i < 5; ++i) {
+ const double kEps = c == 0 ? /* central */ 3e-9 : /* forward */ 2e-5;
+
+ ExpectClose( x2[i] * cos(x1x2), dydx1[5 * 0 + i], kEps);
+ ExpectClose( x1[i] * cos(x1x2), dydx2[5 * 0 + i], kEps);
+ ExpectClose(-x2[i] * exp(-x1x2 / 10.) / 10., dydx1[5 * 1 + i], kEps);
+ ExpectClose(-x1[i] * exp(-x1x2 / 10.) / 10., dydx2[5 * 1 + i], kEps);
+ }
+ }
+ }
+}
+
+
+template<int num_rows, int num_cols>
+class SizeTestingCostFunction : public SizedCostFunction<num_rows, num_cols> {
+ public:
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ return true;
+ }
+};
+
+// As described in
+// http://forum.kde.org/viewtopic.php?f=74&t=98536#p210774
+// Eigen3 has restrictions on the Row/Column major storage of vectors,
+// depending on their dimensions. This test ensures that the correct
+// templates are instantiated for various shapes of the Jacobian
+// matrix.
+TEST(NumericDiffCostFunction, EigenRowMajorColMajorTest) {
+ scoped_ptr<CostFunction> cost_function;
+ cost_function.reset(
+ new NumericDiffCostFunction<SizeTestingCostFunction<1,1>, CENTRAL, 1, 1>(
+ new SizeTestingCostFunction<1,1>, ceres::TAKE_OWNERSHIP));
+
+ cost_function.reset(
+ new NumericDiffCostFunction<SizeTestingCostFunction<2,1>, CENTRAL, 2, 1>(
+ new SizeTestingCostFunction<2,1>, ceres::TAKE_OWNERSHIP));
+
+ cost_function.reset(
+ new NumericDiffCostFunction<SizeTestingCostFunction<1,2>, CENTRAL, 1, 2>(
+ new SizeTestingCostFunction<1,2>, ceres::TAKE_OWNERSHIP));
+
+ cost_function.reset(
+ new NumericDiffCostFunction<SizeTestingCostFunction<2,2>, CENTRAL, 2, 2>(
+ new SizeTestingCostFunction<2,2>, ceres::TAKE_OWNERSHIP));
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/ordered_groups_test.cc b/internal/ceres/ordered_groups_test.cc
new file mode 100644
index 0000000..700e788
--- /dev/null
+++ b/internal/ceres/ordered_groups_test.cc
@@ -0,0 +1,163 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/ordered_groups.h"
+
+#include <cstddef>
+#include <vector>
+#include "gtest/gtest.h"
+#include "ceres/collections_port.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(OrderedGroup, EmptyOrderedGroupBehavesCorrectly) {
+ ParameterBlockOrdering ordering;
+ EXPECT_EQ(ordering.NumGroups(), 0);
+ EXPECT_EQ(ordering.NumElements(), 0);
+ EXPECT_EQ(ordering.GroupSize(1), 0);
+ double x;
+ EXPECT_EQ(ordering.GroupId(&x), -1);
+ EXPECT_FALSE(ordering.Remove(&x));
+}
+
+TEST(OrderedGroup, EverythingInOneGroup) {
+ ParameterBlockOrdering ordering;
+ double x[3];
+ ordering.AddElementToGroup(x, 1);
+ ordering.AddElementToGroup(x + 1, 1);
+ ordering.AddElementToGroup(x + 2, 1);
+ ordering.AddElementToGroup(x, 1);
+
+ EXPECT_EQ(ordering.NumGroups(), 1);
+ EXPECT_EQ(ordering.NumElements(), 3);
+ EXPECT_EQ(ordering.GroupSize(1), 3);
+ EXPECT_EQ(ordering.GroupSize(0), 0);
+ EXPECT_EQ(ordering.GroupId(x), 1);
+ EXPECT_EQ(ordering.GroupId(x + 1), 1);
+ EXPECT_EQ(ordering.GroupId(x + 2), 1);
+
+ ordering.Remove(x);
+ EXPECT_EQ(ordering.NumGroups(), 1);
+ EXPECT_EQ(ordering.NumElements(), 2);
+ EXPECT_EQ(ordering.GroupSize(1), 2);
+ EXPECT_EQ(ordering.GroupSize(0), 0);
+
+ EXPECT_EQ(ordering.GroupId(x), -1);
+ EXPECT_EQ(ordering.GroupId(x + 1), 1);
+ EXPECT_EQ(ordering.GroupId(x + 2), 1);
+}
+
+TEST(OrderedGroup, StartInOneGroupAndThenSplit) {
+ ParameterBlockOrdering ordering;
+ double x[3];
+ ordering.AddElementToGroup(x, 1);
+ ordering.AddElementToGroup(x + 1, 1);
+ ordering.AddElementToGroup(x + 2, 1);
+ ordering.AddElementToGroup(x, 1);
+
+ EXPECT_EQ(ordering.NumGroups(), 1);
+ EXPECT_EQ(ordering.NumElements(), 3);
+ EXPECT_EQ(ordering.GroupSize(1), 3);
+ EXPECT_EQ(ordering.GroupSize(0), 0);
+ EXPECT_EQ(ordering.GroupId(x), 1);
+ EXPECT_EQ(ordering.GroupId(x + 1), 1);
+ EXPECT_EQ(ordering.GroupId(x + 2), 1);
+
+ ordering.AddElementToGroup(x, 5);
+ EXPECT_EQ(ordering.NumGroups(), 2);
+ EXPECT_EQ(ordering.NumElements(), 3);
+ EXPECT_EQ(ordering.GroupSize(1), 2);
+ EXPECT_EQ(ordering.GroupSize(5), 1);
+ EXPECT_EQ(ordering.GroupSize(0), 0);
+
+ EXPECT_EQ(ordering.GroupId(x), 5);
+ EXPECT_EQ(ordering.GroupId(x + 1), 1);
+ EXPECT_EQ(ordering.GroupId(x + 2), 1);
+}
+
+TEST(OrderedGroup, AddAndRemoveEveryThingFromOneGroup) {
+ ParameterBlockOrdering ordering;
+ double x[3];
+ ordering.AddElementToGroup(x, 1);
+ ordering.AddElementToGroup(x + 1, 1);
+ ordering.AddElementToGroup(x + 2, 1);
+ ordering.AddElementToGroup(x, 1);
+
+ EXPECT_EQ(ordering.NumGroups(), 1);
+ EXPECT_EQ(ordering.NumElements(), 3);
+ EXPECT_EQ(ordering.GroupSize(1), 3);
+ EXPECT_EQ(ordering.GroupSize(0), 0);
+ EXPECT_EQ(ordering.GroupId(x), 1);
+ EXPECT_EQ(ordering.GroupId(x + 1), 1);
+ EXPECT_EQ(ordering.GroupId(x + 2), 1);
+
+ ordering.AddElementToGroup(x, 5);
+ ordering.AddElementToGroup(x + 1, 5);
+ ordering.AddElementToGroup(x + 2, 5);
+ EXPECT_EQ(ordering.NumGroups(), 1);
+ EXPECT_EQ(ordering.NumElements(), 3);
+ EXPECT_EQ(ordering.GroupSize(1), 0);
+ EXPECT_EQ(ordering.GroupSize(5), 3);
+ EXPECT_EQ(ordering.GroupSize(0), 0);
+
+ EXPECT_EQ(ordering.GroupId(x), 5);
+ EXPECT_EQ(ordering.GroupId(x + 1), 5);
+ EXPECT_EQ(ordering.GroupId(x + 2), 5);
+}
+
+TEST(OrderedGroup, ReverseOrdering) {
+ ParameterBlockOrdering ordering;
+ double x[3];
+ ordering.AddElementToGroup(x, 1);
+ ordering.AddElementToGroup(x + 1, 2);
+ ordering.AddElementToGroup(x + 2, 2);
+
+ EXPECT_EQ(ordering.NumGroups(), 2);
+ EXPECT_EQ(ordering.NumElements(), 3);
+ EXPECT_EQ(ordering.GroupSize(1), 1);
+ EXPECT_EQ(ordering.GroupSize(2), 2);
+ EXPECT_EQ(ordering.GroupId(x), 1);
+ EXPECT_EQ(ordering.GroupId(x + 1), 2);
+ EXPECT_EQ(ordering.GroupId(x + 2), 2);
+
+ ordering.Reverse();
+
+ EXPECT_EQ(ordering.NumGroups(), 2);
+ EXPECT_EQ(ordering.NumElements(), 3);
+ EXPECT_EQ(ordering.GroupSize(3), 1);
+ EXPECT_EQ(ordering.GroupSize(2), 2);
+ EXPECT_EQ(ordering.GroupId(x), 3);
+ EXPECT_EQ(ordering.GroupId(x + 1), 2);
+ EXPECT_EQ(ordering.GroupId(x + 2), 2);
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/parameter_block.h b/internal/ceres/parameter_block.h
new file mode 100644
index 0000000..f20805c
--- /dev/null
+++ b/internal/ceres/parameter_block.h
@@ -0,0 +1,271 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#ifndef CERES_INTERNAL_PARAMETER_BLOCK_H_
+#define CERES_INTERNAL_PARAMETER_BLOCK_H_
+
+#include <cstdlib>
+#include <string>
+#include "ceres/array_utils.h"
+#include "ceres/integral_types.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/stringprintf.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+class ProblemImpl;
+
+// The parameter block encodes the location of the user's original value, and
+// also the "current state" of the parameter. The evaluator uses whatever is in
+// the current state of the parameter when evaluating. This is inlined since the
+// methods are performance sensitive.
+//
+// The class is not thread-safe, unless only const methods are called. The
+// parameter block may also hold a pointer to a local parameterization; the
+// parameter block does not take ownership of this pointer, so the user is
+// responsible for the proper disposal of the local parameterization.
+class ParameterBlock {
+ public:
+ ParameterBlock(double* user_state, int size) {
+ Init(user_state, size, NULL);
+ }
+ ParameterBlock(double* user_state,
+ int size,
+ LocalParameterization* local_parameterization) {
+ Init(user_state, size, local_parameterization);
+ }
+
+ // The size of the parameter block.
+ int Size() const { return size_; }
+
+ // Manipulate the parameter state.
+ bool SetState(const double* x) {
+ CHECK(x != NULL)
+ << "Tried to set the state of constant parameter "
+ << "with user location " << user_state_;
+ CHECK(!is_constant_)
+ << "Tried to set the state of constant parameter "
+ << "with user location " << user_state_;
+
+ state_ = x;
+ return UpdateLocalParameterizationJacobian();
+ }
+
+ // Copy the current parameter state out to x. This is "GetState()" rather than
+ // simply "state()" since it is actively copying the data into the passed
+ // pointer.
+ void GetState(double *x) const {
+ if (x != state_) {
+ memcpy(x, state_, sizeof(*state_) * size_);
+ }
+ }
+
+ // Direct pointers to the current state.
+ const double* state() const { return state_; }
+ const double* user_state() const { return user_state_; }
+ double* mutable_user_state() { return user_state_; }
+ LocalParameterization* local_parameterization() const {
+ return local_parameterization_;
+ }
+ LocalParameterization* mutable_local_parameterization() {
+ return local_parameterization_;
+ }
+
+ // Set this parameter block to vary or not.
+ void SetConstant() { is_constant_ = true; }
+ void SetVarying() { is_constant_ = false; }
+ bool IsConstant() const { return is_constant_; }
+
+ // This parameter block's index in an array.
+ int index() const { return index_; }
+ void set_index(int index) { index_ = index; }
+
+ // This parameter offset inside a larger state vector.
+ int state_offset() const { return state_offset_; }
+ void set_state_offset(int state_offset) { state_offset_ = state_offset; }
+
+ // This parameter offset inside a larger delta vector.
+ int delta_offset() const { return delta_offset_; }
+ void set_delta_offset(int delta_offset) { delta_offset_ = delta_offset; }
+
+ // Methods relating to the parameter block's parameterization.
+
+ // The local to global jacobian. Returns NULL if there is no local
+ // parameterization for this parameter block. The returned matrix is row-major
+ // and has Size() rows and LocalSize() columns.
+ const double* LocalParameterizationJacobian() const {
+ return local_parameterization_jacobian_.get();
+ }
+
+ int LocalSize() const {
+ return (local_parameterization_ == NULL)
+ ? size_
+ : local_parameterization_->LocalSize();
+ }
+
+ // Set the parameterization. The parameterization can be set exactly once;
+ // multiple calls to set the parameterization to different values will crash.
+ // It is an error to pass NULL for the parameterization. The parameter block
+ // does not take ownership of the parameterization.
+ void SetParameterization(LocalParameterization* new_parameterization) {
+ CHECK(new_parameterization != NULL) << "NULL parameterization invalid.";
+ CHECK(new_parameterization->GlobalSize() == size_)
+ << "Invalid parameterization for parameter block. The parameter block "
+ << "has size " << size_ << " while the parameterization has a global "
+ << "size of " << new_parameterization->GlobalSize() << ". Did you "
+ << "accidentally use the wrong parameter block or parameterization?";
+ if (new_parameterization != local_parameterization_) {
+ CHECK(local_parameterization_ == NULL)
+ << "Can't re-set the local parameterization; it leads to "
+ << "ambiguous ownership.";
+ local_parameterization_ = new_parameterization;
+ local_parameterization_jacobian_.reset(
+ new double[local_parameterization_->GlobalSize() *
+ local_parameterization_->LocalSize()]);
+ CHECK(UpdateLocalParameterizationJacobian())
+ "Local parameterization Jacobian computation failed"
+ "for x: " << ConstVectorRef(state_, Size()).transpose();
+ } else {
+ // Ignore the case that the parameterizations match.
+ }
+ }
+
+ // Generalization of the addition operation. This is the same as
+ // LocalParameterization::Plus() but uses the parameter's current state
+ // instead of operating on a passed in pointer.
+ bool Plus(const double *x, const double* delta, double* x_plus_delta) {
+ if (local_parameterization_ == NULL) {
+ VectorRef(x_plus_delta, size_) = ConstVectorRef(x, size_) +
+ ConstVectorRef(delta, size_);
+ return true;
+ }
+ return local_parameterization_->Plus(x, delta, x_plus_delta);
+ }
+
+ string ToString() const {
+ return StringPrintf("{ user_state=%p, state=%p, size=%d, "
+ "constant=%d, index=%d, state_offset=%d, "
+ "delta_offset=%d }",
+ user_state_,
+ state_,
+ size_,
+ is_constant_,
+ index_,
+ state_offset_,
+ delta_offset_);
+ }
+
+ private:
+ void Init(double* user_state,
+ int size,
+ LocalParameterization* local_parameterization) {
+ user_state_ = user_state;
+ size_ = size;
+ is_constant_ = false;
+ state_ = user_state_;
+
+ local_parameterization_ = NULL;
+ if (local_parameterization != NULL) {
+ SetParameterization(local_parameterization);
+ }
+
+ index_ = -1;
+ state_offset_ = -1;
+ delta_offset_ = -1;
+ }
+
+ bool UpdateLocalParameterizationJacobian() {
+ if (local_parameterization_ == NULL) {
+ return true;
+ }
+
+ // Update the local to global Jacobian. In some cases this is
+ // wasted effort; if this is a bottleneck, we will find a solution
+ // at that time.
+
+ const int jacobian_size = Size() * LocalSize();
+ InvalidateArray(jacobian_size,
+ local_parameterization_jacobian_.get());
+ if (!local_parameterization_->ComputeJacobian(
+ state_,
+ local_parameterization_jacobian_.get())) {
+ LOG(WARNING) << "Local parameterization Jacobian computation failed"
+ "for x: " << ConstVectorRef(state_, Size()).transpose();
+ return false;
+ }
+
+ if (!IsArrayValid(jacobian_size, local_parameterization_jacobian_.get())) {
+ LOG(WARNING) << "Local parameterization Jacobian computation returned"
+ << "an invalid matrix for x: "
+ << ConstVectorRef(state_, Size()).transpose()
+ << "\n Jacobian matrix : "
+ << ConstMatrixRef(local_parameterization_jacobian_.get(),
+ Size(),
+ LocalSize());
+ return false;
+ }
+ return true;
+ }
+
+ double* user_state_;
+ int size_;
+ bool is_constant_;
+ LocalParameterization* local_parameterization_;
+
+ // The "state" of the parameter. These fields are only needed while the
+ // solver is running. While at first glance using mutable is a bad idea, this
+ // ends up simplifying the internals of Ceres enough to justify the potential
+ // pitfalls of using "mutable."
+ mutable const double* state_;
+ mutable scoped_array<double> local_parameterization_jacobian_;
+
+ // The index of the parameter. This is used by various other parts of Ceres to
+ // permit switching from a ParameterBlock* to an index in another array.
+ int32 index_;
+
+ // The offset of this parameter block inside a larger state vector.
+ int32 state_offset_;
+
+ // The offset of this parameter block inside a larger delta vector.
+ int32 delta_offset_;
+
+ // Necessary so ProblemImpl can clean up the parameterizations.
+ friend class ProblemImpl;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_PARAMETER_BLOCK_H_
diff --git a/internal/ceres/parameter_block_ordering.cc b/internal/ceres/parameter_block_ordering.cc
new file mode 100644
index 0000000..e8f626f
--- /dev/null
+++ b/internal/ceres/parameter_block_ordering.cc
@@ -0,0 +1,122 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/parameter_block_ordering.h"
+
+#include "ceres/graph.h"
+#include "ceres/graph_algorithms.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/map_util.h"
+#include "ceres/parameter_block.h"
+#include "ceres/program.h"
+#include "ceres/residual_block.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+int ComputeSchurOrdering(const Program& program,
+ vector<ParameterBlock*>* ordering) {
+ CHECK_NOTNULL(ordering)->clear();
+
+ scoped_ptr<Graph< ParameterBlock*> > graph(CreateHessianGraph(program));
+ int independent_set_size = IndependentSetOrdering(*graph, ordering);
+ const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks();
+
+ // Add the excluded blocks to back of the ordering vector.
+ for (int i = 0; i < parameter_blocks.size(); ++i) {
+ ParameterBlock* parameter_block = parameter_blocks[i];
+ if (parameter_block->IsConstant()) {
+ ordering->push_back(parameter_block);
+ }
+ }
+
+ return independent_set_size;
+}
+
+void ComputeRecursiveIndependentSetOrdering(const Program& program,
+ ParameterBlockOrdering* ordering) {
+ CHECK_NOTNULL(ordering)->Clear();
+ const vector<ParameterBlock*> parameter_blocks = program.parameter_blocks();
+ scoped_ptr<Graph< ParameterBlock*> > graph(CreateHessianGraph(program));
+
+ int num_covered = 0;
+ int round = 0;
+ while (num_covered < parameter_blocks.size()) {
+ vector<ParameterBlock*> independent_set_ordering;
+ const int independent_set_size =
+ IndependentSetOrdering(*graph, &independent_set_ordering);
+ for (int i = 0; i < independent_set_size; ++i) {
+ ParameterBlock* parameter_block = independent_set_ordering[i];
+ ordering->AddElementToGroup(parameter_block->mutable_user_state(), round);
+ graph->RemoveVertex(parameter_block);
+ }
+ num_covered += independent_set_size;
+ ++round;
+ }
+}
+
+Graph<ParameterBlock*>*
+CreateHessianGraph(const Program& program) {
+ Graph<ParameterBlock*>* graph = CHECK_NOTNULL(new Graph<ParameterBlock*>);
+ const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks();
+ for (int i = 0; i < parameter_blocks.size(); ++i) {
+ ParameterBlock* parameter_block = parameter_blocks[i];
+ if (!parameter_block->IsConstant()) {
+ graph->AddVertex(parameter_block);
+ }
+ }
+
+ const vector<ResidualBlock*>& residual_blocks = program.residual_blocks();
+ for (int i = 0; i < residual_blocks.size(); ++i) {
+ const ResidualBlock* residual_block = residual_blocks[i];
+ const int num_parameter_blocks = residual_block->NumParameterBlocks();
+ ParameterBlock* const* parameter_blocks =
+ residual_block->parameter_blocks();
+ for (int j = 0; j < num_parameter_blocks; ++j) {
+ if (parameter_blocks[j]->IsConstant()) {
+ continue;
+ }
+
+ for (int k = j + 1; k < num_parameter_blocks; ++k) {
+ if (parameter_blocks[k]->IsConstant()) {
+ continue;
+ }
+
+ graph->AddEdge(parameter_blocks[j], parameter_blocks[k]);
+ }
+ }
+ }
+
+ return graph;
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/parameter_block_ordering.h b/internal/ceres/parameter_block_ordering.h
new file mode 100644
index 0000000..a5277a4
--- /dev/null
+++ b/internal/ceres/parameter_block_ordering.h
@@ -0,0 +1,78 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_PARAMETER_BLOCK_ORDERING_H_
+#define CERES_INTERNAL_PARAMETER_BLOCK_ORDERING_H_
+
+#include <vector>
+#include "ceres/ordered_groups.h"
+#include "ceres/graph.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+class Program;
+class ParameterBlock;
+
+// Uses an approximate independent set ordering to order the parameter
+// blocks of a problem so that it is suitable for use with Schur
+// complement based solvers. The output variable ordering contains an
+// ordering of the parameter blocks and the return value is size of
+// the independent set or the number of e_blocks (see
+// schur_complement_solver.h for an explanation). Constant parameters
+// are added to the end.
+//
+// The ordering vector has the structure
+//
+// ordering = [independent set,
+// complement of the independent set,
+// fixed blocks]
+int ComputeSchurOrdering(const Program& program,
+ vector<ParameterBlock* >* ordering);
+
+// Use an approximate independent set ordering to decompose the
+// parameter blocks of a problem in a sequence of independent
+// sets. The ordering covers all the non-constant parameter blocks in
+// the program.
+void ComputeRecursiveIndependentSetOrdering(const Program& program,
+ ParameterBlockOrdering* ordering);
+
+// Builds a graph on the parameter blocks of a Problem, whose
+// structure reflects the sparsity structure of the Hessian. Each
+// vertex corresponds to a parameter block in the Problem except for
+// parameter blocks that are marked constant. An edge connects two
+// parameter blocks, if they co-occur in a residual block.
+Graph<ParameterBlock*>* CreateHessianGraph(const Program& program);
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_PARAMETER_BLOCK_ORDERING_H_
diff --git a/internal/ceres/parameter_block_ordering_test.cc b/internal/ceres/parameter_block_ordering_test.cc
new file mode 100644
index 0000000..bc497d0
--- /dev/null
+++ b/internal/ceres/parameter_block_ordering_test.cc
@@ -0,0 +1,177 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/parameter_block_ordering.h"
+
+#include <cstddef>
+#include <vector>
+#include "gtest/gtest.h"
+#include "ceres/collections_port.h"
+#include "ceres/graph.h"
+#include "ceres/problem_impl.h"
+#include "ceres/program.h"
+#include "ceres/stl_util.h"
+#include "ceres/cost_function.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/sized_cost_function.h"
+
+namespace ceres {
+namespace internal {
+
+typedef Graph<ParameterBlock*> HessianGraph;
+typedef HashSet<ParameterBlock*> VertexSet;
+
+template <int M, int N1 = 0, int N2 = 0, int N3 = 0>
+class DummyCostFunction: public SizedCostFunction<M, N1, N2, N3> {
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ return true;
+ }
+};
+
+class SchurOrderingTest : public ::testing::Test {
+ protected :
+ virtual void SetUp() {
+ // The explicit calls to AddParameterBlock are necessary because
+ // the below tests depend on the specific numbering of the
+ // parameter blocks.
+ problem_.AddParameterBlock(x_, 3);
+ problem_.AddParameterBlock(y_, 4);
+ problem_.AddParameterBlock(z_, 5);
+ problem_.AddParameterBlock(w_, 6);
+
+ problem_.AddResidualBlock(new DummyCostFunction<2, 3>, NULL, x_);
+ problem_.AddResidualBlock(new DummyCostFunction<6, 5, 4>, NULL, z_, y_);
+ problem_.AddResidualBlock(new DummyCostFunction<3, 3, 5>, NULL, x_, z_);
+ problem_.AddResidualBlock(new DummyCostFunction<7, 5, 3>, NULL, z_, x_);
+ problem_.AddResidualBlock(new DummyCostFunction<1, 5, 3, 6>, NULL,
+ z_, x_, w_);
+ }
+
+ ProblemImpl problem_;
+ double x_[3], y_[4], z_[5], w_[6];
+};
+
+TEST_F(SchurOrderingTest, NoFixed) {
+ const Program& program = problem_.program();
+ const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks();
+ scoped_ptr<HessianGraph> graph(CreateHessianGraph(program));
+
+ const VertexSet& vertices = graph->vertices();
+ EXPECT_EQ(vertices.size(), 4);
+
+ for (int i = 0; i < 4; ++i) {
+ EXPECT_TRUE(vertices.find(parameter_blocks[i]) != vertices.end());
+ }
+
+ {
+ const VertexSet& neighbors = graph->Neighbors(parameter_blocks[0]);
+ EXPECT_EQ(neighbors.size(), 2);
+ EXPECT_TRUE(neighbors.find(parameter_blocks[2]) != neighbors.end());
+ EXPECT_TRUE(neighbors.find(parameter_blocks[3]) != neighbors.end());
+ }
+
+ {
+ const VertexSet& neighbors = graph->Neighbors(parameter_blocks[1]);
+ EXPECT_EQ(neighbors.size(), 1);
+ EXPECT_TRUE(neighbors.find(parameter_blocks[2]) != neighbors.end());
+ }
+
+ {
+ const VertexSet& neighbors = graph->Neighbors(parameter_blocks[2]);
+ EXPECT_EQ(neighbors.size(), 3);
+ EXPECT_TRUE(neighbors.find(parameter_blocks[0]) != neighbors.end());
+ EXPECT_TRUE(neighbors.find(parameter_blocks[1]) != neighbors.end());
+ EXPECT_TRUE(neighbors.find(parameter_blocks[3]) != neighbors.end());
+ }
+
+ {
+ const VertexSet& neighbors = graph->Neighbors(parameter_blocks[3]);
+ EXPECT_EQ(neighbors.size(), 2);
+ EXPECT_TRUE(neighbors.find(parameter_blocks[0]) != neighbors.end());
+ EXPECT_TRUE(neighbors.find(parameter_blocks[2]) != neighbors.end());
+ }
+}
+
+TEST_F(SchurOrderingTest, AllFixed) {
+ problem_.SetParameterBlockConstant(x_);
+ problem_.SetParameterBlockConstant(y_);
+ problem_.SetParameterBlockConstant(z_);
+ problem_.SetParameterBlockConstant(w_);
+
+ const Program& program = problem_.program();
+ scoped_ptr<HessianGraph> graph(CreateHessianGraph(program));
+ EXPECT_EQ(graph->vertices().size(), 0);
+}
+
+TEST_F(SchurOrderingTest, OneFixed) {
+ problem_.SetParameterBlockConstant(x_);
+
+ const Program& program = problem_.program();
+ const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks();
+ scoped_ptr<HessianGraph> graph(CreateHessianGraph(program));
+
+ const VertexSet& vertices = graph->vertices();
+
+ EXPECT_EQ(vertices.size(), 3);
+ EXPECT_TRUE(vertices.find(parameter_blocks[0]) == vertices.end());
+
+ for (int i = 1; i < 3; ++i) {
+ EXPECT_TRUE(vertices.find(parameter_blocks[i]) != vertices.end());
+ }
+
+ {
+ const VertexSet& neighbors = graph->Neighbors(parameter_blocks[1]);
+ EXPECT_EQ(neighbors.size(), 1);
+ EXPECT_TRUE(neighbors.find(parameter_blocks[2]) != neighbors.end());
+ }
+
+ {
+ const VertexSet& neighbors = graph->Neighbors(parameter_blocks[2]);
+ EXPECT_EQ(neighbors.size(), 2);
+ EXPECT_TRUE(neighbors.find(parameter_blocks[1]) != neighbors.end());
+ EXPECT_TRUE(neighbors.find(parameter_blocks[3]) != neighbors.end());
+ }
+
+ {
+ const VertexSet& neighbors = graph->Neighbors(parameter_blocks[3]);
+ EXPECT_EQ(neighbors.size(), 1);
+ EXPECT_TRUE(neighbors.find(parameter_blocks[2]) != neighbors.end());
+ }
+
+ // The constant parameter block is at the end.
+ vector<ParameterBlock*> ordering;
+ ComputeSchurOrdering(program, &ordering);
+ EXPECT_EQ(ordering.back(), parameter_blocks[0]);
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/parameter_block_test.cc b/internal/ceres/parameter_block_test.cc
new file mode 100644
index 0000000..35998dc
--- /dev/null
+++ b/internal/ceres/parameter_block_test.cc
@@ -0,0 +1,173 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "ceres/parameter_block.h"
+
+#include "gtest/gtest.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(ParameterBlock, SetLocalParameterization) {
+ double x[3] = { 1.0, 2.0, 3.0 };
+ ParameterBlock parameter_block(x, 3);
+
+ // The indices to set constant within the parameter block (used later).
+ vector<int> indices;
+ indices.push_back(1);
+
+ // Can't set the parameterization if the sizes don't match.
+ SubsetParameterization subset_wrong_size(4, indices);
+ EXPECT_DEATH_IF_SUPPORTED(
+ parameter_block.SetParameterization(&subset_wrong_size), "global");
+
+ // Can't set parameterization to NULL from NULL.
+ EXPECT_DEATH_IF_SUPPORTED
+ (parameter_block.SetParameterization(NULL), "NULL");
+
+ // Now set the parameterization.
+ SubsetParameterization subset(3, indices);
+ parameter_block.SetParameterization(&subset);
+
+ // Re-setting the parameterization to the same value is supported.
+ parameter_block.SetParameterization(&subset);
+
+ // Can't set parameterization to NULL from another parameterization.
+ EXPECT_DEATH_IF_SUPPORTED(parameter_block.SetParameterization(NULL), "NULL");
+
+ // Can't set the parameterization more than once.
+ SubsetParameterization subset_different(3, indices);
+ EXPECT_DEATH_IF_SUPPORTED
+ (parameter_block.SetParameterization(&subset_different), "re-set");
+
+ // Ensure the local parameterization jacobian result is correctly computed.
+ ConstMatrixRef local_parameterization_jacobian(
+ parameter_block.LocalParameterizationJacobian(),
+ 3,
+ 2);
+ ASSERT_EQ(1.0, local_parameterization_jacobian(0, 0));
+ ASSERT_EQ(0.0, local_parameterization_jacobian(0, 1));
+ ASSERT_EQ(0.0, local_parameterization_jacobian(1, 0));
+ ASSERT_EQ(0.0, local_parameterization_jacobian(1, 1));
+ ASSERT_EQ(0.0, local_parameterization_jacobian(2, 0));
+ ASSERT_EQ(1.0, local_parameterization_jacobian(2, 1));
+
+ // Check that updating works as expected.
+ double x_plus_delta[3];
+ double delta[2] = { 0.5, 0.3 };
+ parameter_block.Plus(x, delta, x_plus_delta);
+ ASSERT_EQ(1.5, x_plus_delta[0]);
+ ASSERT_EQ(2.0, x_plus_delta[1]);
+ ASSERT_EQ(3.3, x_plus_delta[2]);
+}
+
+struct TestParameterization : public LocalParameterization {
+ public:
+ virtual ~TestParameterization() {}
+ virtual bool Plus(const double* x,
+ const double* delta,
+ double* x_plus_delta) const {
+ LOG(FATAL) << "Shouldn't get called.";
+ return true;
+ }
+ virtual bool ComputeJacobian(const double* x,
+ double* jacobian) const {
+ jacobian[0] = *x * 2;
+ return true;
+ }
+
+ virtual int GlobalSize() const { return 1; }
+ virtual int LocalSize() const { return 1; }
+};
+
+TEST(ParameterBlock, SetStateUpdatesLocalParameterizationJacobian) {
+ TestParameterization test_parameterization;
+ double x[1] = { 1.0 };
+ ParameterBlock parameter_block(x, 1, &test_parameterization);
+
+ EXPECT_EQ(2.0, *parameter_block.LocalParameterizationJacobian());
+
+ x[0] = 5.5;
+ parameter_block.SetState(x);
+ EXPECT_EQ(11.0, *parameter_block.LocalParameterizationJacobian());
+}
+
+TEST(ParameterBlock, PlusWithNoLocalParameterization) {
+ double x[2] = { 1.0, 2.0 };
+ ParameterBlock parameter_block(x, 2);
+
+ double delta[2] = { 0.2, 0.3 };
+ double x_plus_delta[2];
+ parameter_block.Plus(x, delta, x_plus_delta);
+ EXPECT_EQ(1.2, x_plus_delta[0]);
+ EXPECT_EQ(2.3, x_plus_delta[1]);
+}
+
+// Stops computing the jacobian after the first time.
+class BadLocalParameterization : public LocalParameterization {
+ public:
+ BadLocalParameterization()
+ : calls_(0) {
+ }
+
+ virtual ~BadLocalParameterization() {}
+ virtual bool Plus(const double* x,
+ const double* delta,
+ double* x_plus_delta) const {
+ *x_plus_delta = *x + *delta;
+ return true;
+ }
+
+ virtual bool ComputeJacobian(const double* x, double* jacobian) const {
+ if (calls_ == 0) {
+ jacobian[0] = 0;
+ }
+ ++calls_;
+ return true;
+ }
+
+ virtual int GlobalSize() const { return 1;}
+ virtual int LocalSize() const { return 1;}
+
+ private:
+ mutable int calls_;
+};
+
+TEST(ParameterBlock, DetectBadLocalParameterization) {
+ double x = 1;
+ BadLocalParameterization bad_parameterization;
+ ParameterBlock parameter_block(&x, 1, &bad_parameterization);
+ double y = 2;
+ EXPECT_FALSE(parameter_block.SetState(&y));
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/partitioned_matrix_view.cc b/internal/ceres/partitioned_matrix_view.cc
new file mode 100644
index 0000000..0722fc8
--- /dev/null
+++ b/internal/ceres/partitioned_matrix_view.cc
@@ -0,0 +1,315 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 10
+
+#include "ceres/partitioned_matrix_view.h"
+
+#include <algorithm>
+#include <cstring>
+#include <vector>
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/block_structure.h"
+#include "ceres/internal/eigen.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+PartitionedMatrixView::PartitionedMatrixView(
+ const BlockSparseMatrixBase& matrix,
+ int num_col_blocks_a)
+ : matrix_(matrix),
+ num_col_blocks_e_(num_col_blocks_a) {
+ const CompressedRowBlockStructure* bs = matrix_.block_structure();
+ CHECK_NOTNULL(bs);
+
+ num_col_blocks_f_ = bs->cols.size() - num_col_blocks_a;
+
+ // Compute the number of row blocks in E. The number of row blocks
+ // in E maybe less than the number of row blocks in the input matrix
+ // as some of the row blocks at the bottom may not have any
+ // e_blocks. For a definition of what an e_block is, please see
+ // explicit_schur_complement_solver.h
+ num_row_blocks_e_ = 0;
+ for (int r = 0; r < bs->rows.size(); ++r) {
+ const vector<Cell>& cells = bs->rows[r].cells;
+ if (cells[0].block_id < num_col_blocks_a) {
+ ++num_row_blocks_e_;
+ }
+ }
+
+ // Compute the number of columns in E and F.
+ num_cols_e_ = 0;
+ num_cols_f_ = 0;
+
+ for (int c = 0; c < bs->cols.size(); ++c) {
+ const Block& block = bs->cols[c];
+ if (c < num_col_blocks_a) {
+ num_cols_e_ += block.size;
+ } else {
+ num_cols_f_ += block.size;
+ }
+ }
+
+ CHECK_EQ(num_cols_e_ + num_cols_f_, matrix_.num_cols());
+}
+
+PartitionedMatrixView::~PartitionedMatrixView() {
+}
+
+// The next four methods don't seem to be particularly cache
+// friendly. This is an artifact of how the BlockStructure of the
+// input matrix is constructed. These methods will benefit from
+// multithreading as well as improved data layout.
+
+void PartitionedMatrixView::RightMultiplyE(const double* x, double* y) const {
+ const CompressedRowBlockStructure* bs = matrix_.block_structure();
+
+ // Iterate over the first num_row_blocks_e_ row blocks, and multiply
+ // by the first cell in each row block.
+ for (int r = 0; r < num_row_blocks_e_; ++r) {
+ const double* row_values = matrix_.RowBlockValues(r);
+ const Cell& cell = bs->rows[r].cells[0];
+ const int row_block_pos = bs->rows[r].block.position;
+ const int row_block_size = bs->rows[r].block.size;
+ const int col_block_id = cell.block_id;
+ const int col_block_pos = bs->cols[col_block_id].position;
+ const int col_block_size = bs->cols[col_block_id].size;
+
+ ConstVectorRef xref(x + col_block_pos, col_block_size);
+ VectorRef yref(y + row_block_pos, row_block_size);
+ ConstMatrixRef m(row_values + cell.position,
+ row_block_size,
+ col_block_size);
+ yref += m.lazyProduct(xref);
+ }
+}
+
+void PartitionedMatrixView::RightMultiplyF(const double* x, double* y) const {
+ const CompressedRowBlockStructure* bs = matrix_.block_structure();
+
+ // Iterate over row blocks, and if the row block is in E, then
+ // multiply by all the cells except the first one which is of type
+ // E. If the row block is not in E (i.e its in the bottom
+ // num_row_blocks - num_row_blocks_e row blocks), then all the cells
+ // are of type F and multiply by them all.
+ for (int r = 0; r < bs->rows.size(); ++r) {
+ const int row_block_pos = bs->rows[r].block.position;
+ const int row_block_size = bs->rows[r].block.size;
+ VectorRef yref(y + row_block_pos, row_block_size);
+ const vector<Cell>& cells = bs->rows[r].cells;
+ for (int c = (r < num_row_blocks_e_) ? 1 : 0; c < cells.size(); ++c) {
+ const double* row_values = matrix_.RowBlockValues(r);
+ const int col_block_id = cells[c].block_id;
+ const int col_block_pos = bs->cols[col_block_id].position;
+ const int col_block_size = bs->cols[col_block_id].size;
+
+ ConstVectorRef xref(x + col_block_pos - num_cols_e(),
+ col_block_size);
+ ConstMatrixRef m(row_values + cells[c].position,
+ row_block_size,
+ col_block_size);
+ yref += m.lazyProduct(xref);
+ }
+ }
+}
+
+void PartitionedMatrixView::LeftMultiplyE(const double* x, double* y) const {
+ const CompressedRowBlockStructure* bs = matrix_.block_structure();
+
+ // Iterate over the first num_row_blocks_e_ row blocks, and multiply
+ // by the first cell in each row block.
+ for (int r = 0; r < num_row_blocks_e_; ++r) {
+ const Cell& cell = bs->rows[r].cells[0];
+ const double* row_values = matrix_.RowBlockValues(r);
+ const int row_block_pos = bs->rows[r].block.position;
+ const int row_block_size = bs->rows[r].block.size;
+ const int col_block_id = cell.block_id;
+ const int col_block_pos = bs->cols[col_block_id].position;
+ const int col_block_size = bs->cols[col_block_id].size;
+
+ ConstVectorRef xref(x + row_block_pos, row_block_size);
+ VectorRef yref(y + col_block_pos, col_block_size);
+ ConstMatrixRef m(row_values + cell.position,
+ row_block_size,
+ col_block_size);
+ yref += m.transpose().lazyProduct(xref);
+ }
+}
+
+void PartitionedMatrixView::LeftMultiplyF(const double* x, double* y) const {
+ const CompressedRowBlockStructure* bs = matrix_.block_structure();
+
+ // Iterate over row blocks, and if the row block is in E, then
+ // multiply by all the cells except the first one which is of type
+ // E. If the row block is not in E (i.e its in the bottom
+ // num_row_blocks - num_row_blocks_e row blocks), then all the cells
+ // are of type F and multiply by them all.
+ for (int r = 0; r < bs->rows.size(); ++r) {
+ const int row_block_pos = bs->rows[r].block.position;
+ const int row_block_size = bs->rows[r].block.size;
+ ConstVectorRef xref(x + row_block_pos, row_block_size);
+ const vector<Cell>& cells = bs->rows[r].cells;
+ for (int c = (r < num_row_blocks_e_) ? 1 : 0; c < cells.size(); ++c) {
+ const double* row_values = matrix_.RowBlockValues(r);
+ const int col_block_id = cells[c].block_id;
+ const int col_block_pos = bs->cols[col_block_id].position;
+ const int col_block_size = bs->cols[col_block_id].size;
+
+ VectorRef yref(y + col_block_pos - num_cols_e(), col_block_size);
+ ConstMatrixRef m(row_values + cells[c].position,
+ row_block_size,
+ col_block_size);
+ yref += m.transpose().lazyProduct(xref);
+ }
+ }
+}
+
+// Given a range of columns blocks of a matrix m, compute the block
+// structure of the block diagonal of the matrix m(:,
+// start_col_block:end_col_block)'m(:, start_col_block:end_col_block)
+// and return a BlockSparseMatrix with the this block structure. The
+// caller owns the result.
+BlockSparseMatrix* PartitionedMatrixView::CreateBlockDiagonalMatrixLayout(
+ int start_col_block, int end_col_block) const {
+ const CompressedRowBlockStructure* bs = matrix_.block_structure();
+ CompressedRowBlockStructure* block_diagonal_structure =
+ new CompressedRowBlockStructure;
+
+ int block_position = 0;
+ int diagonal_cell_position = 0;
+
+ // Iterate over the column blocks, creating a new diagonal block for
+ // each column block.
+ for (int c = start_col_block; c < end_col_block; ++c) {
+ const Block& block = bs->cols[c];
+ block_diagonal_structure->cols.push_back(Block());
+ Block& diagonal_block = block_diagonal_structure->cols.back();
+ diagonal_block.size = block.size;
+ diagonal_block.position = block_position;
+
+ block_diagonal_structure->rows.push_back(CompressedRow());
+ CompressedRow& row = block_diagonal_structure->rows.back();
+ row.block = diagonal_block;
+
+ row.cells.push_back(Cell());
+ Cell& cell = row.cells.back();
+ cell.block_id = c - start_col_block;
+ cell.position = diagonal_cell_position;
+
+ block_position += block.size;
+ diagonal_cell_position += block.size * block.size;
+ }
+
+ // Build a BlockSparseMatrix with the just computed block
+ // structure.
+ return new BlockSparseMatrix(block_diagonal_structure);
+}
+
+BlockSparseMatrix* PartitionedMatrixView::CreateBlockDiagonalEtE() const {
+ BlockSparseMatrix* block_diagonal =
+ CreateBlockDiagonalMatrixLayout(0, num_col_blocks_e_);
+ UpdateBlockDiagonalEtE(block_diagonal);
+ return block_diagonal;
+}
+
+BlockSparseMatrix* PartitionedMatrixView::CreateBlockDiagonalFtF() const {
+ BlockSparseMatrix* block_diagonal =
+ CreateBlockDiagonalMatrixLayout(
+ num_col_blocks_e_, num_col_blocks_e_ + num_col_blocks_f_);
+ UpdateBlockDiagonalFtF(block_diagonal);
+ return block_diagonal;
+}
+
+// Similar to the code in RightMultiplyE, except instead of the matrix
+// vector multiply its an outer product.
+//
+// block_diagonal = block_diagonal(E'E)
+void PartitionedMatrixView::UpdateBlockDiagonalEtE(
+ BlockSparseMatrix* block_diagonal) const {
+ const CompressedRowBlockStructure* bs = matrix_.block_structure();
+ const CompressedRowBlockStructure* block_diagonal_structure =
+ block_diagonal->block_structure();
+
+ block_diagonal->SetZero();
+
+ for (int r = 0; r < num_row_blocks_e_ ; ++r) {
+ const double* row_values = matrix_.RowBlockValues(r);
+ const Cell& cell = bs->rows[r].cells[0];
+ const int row_block_size = bs->rows[r].block.size;
+ const int block_id = cell.block_id;
+ const int col_block_size = bs->cols[block_id].size;
+ ConstMatrixRef m(row_values + cell.position,
+ row_block_size,
+ col_block_size);
+
+ const int cell_position =
+ block_diagonal_structure->rows[block_id].cells[0].position;
+
+ MatrixRef(block_diagonal->mutable_values() + cell_position,
+ col_block_size, col_block_size).noalias() += m.transpose() * m;
+ }
+}
+
+// Similar to the code in RightMultiplyF, except instead of the matrix
+// vector multiply its an outer product.
+//
+// block_diagonal = block_diagonal(F'F)
+//
+void PartitionedMatrixView::UpdateBlockDiagonalFtF(
+ BlockSparseMatrix* block_diagonal) const {
+ const CompressedRowBlockStructure* bs = matrix_.block_structure();
+ const CompressedRowBlockStructure* block_diagonal_structure =
+ block_diagonal->block_structure();
+
+ block_diagonal->SetZero();
+ for (int r = 0; r < bs->rows.size(); ++r) {
+ const int row_block_size = bs->rows[r].block.size;
+ const vector<Cell>& cells = bs->rows[r].cells;
+ const double* row_values = matrix_.RowBlockValues(r);
+ for (int c = (r < num_row_blocks_e_) ? 1 : 0; c < cells.size(); ++c) {
+ const int col_block_id = cells[c].block_id;
+ const int col_block_size = bs->cols[col_block_id].size;
+ ConstMatrixRef m(row_values + cells[c].position,
+ row_block_size,
+ col_block_size);
+ const int diagonal_block_id = col_block_id - num_col_blocks_e_;
+ const int cell_position =
+ block_diagonal_structure->rows[diagonal_block_id].cells[0].position;
+
+ MatrixRef(block_diagonal->mutable_values() + cell_position,
+ col_block_size, col_block_size).noalias() += m.transpose() * m;
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/partitioned_matrix_view.h b/internal/ceres/partitioned_matrix_view.h
new file mode 100644
index 0000000..cfe4de5
--- /dev/null
+++ b/internal/ceres/partitioned_matrix_view.h
@@ -0,0 +1,121 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// For generalized bi-partite Jacobian matrices that arise in
+// Structure from Motion related problems, it is sometimes useful to
+// have access to the two parts of the matrix as linear operators
+// themselves. This class provides that functionality.
+
+#ifndef CERES_INTERNAL_PARTITIONED_MATRIX_VIEW_H_
+#define CERES_INTERNAL_PARTITIONED_MATRIX_VIEW_H_
+
+#include "ceres/block_sparse_matrix.h"
+
+namespace ceres {
+namespace internal {
+
+// Given generalized bi-partite matrix A = [E F], with the same block
+// structure as required by the Schur complement based solver, found
+// in explicit_schur_complement_solver.h, provide access to the
+// matrices E and F and their outer products E'E and F'F with
+// themselves.
+//
+// Lack of BlockStructure object will result in a crash and if the
+// block structure of the matrix does not satisfy the requirements of
+// the Schur complement solver it will result in unpredictable and
+// wrong output.
+//
+// This class lives in the internal name space as its a utility class
+// to be used by the IterativeSchurComplementSolver class, found in
+// iterative_schur_complement_solver.h, and is not meant for general
+// consumption.
+class PartitionedMatrixView {
+ public:
+ // matrix = [E F], where the matrix E contains the first
+ // num_col_blocks_a column blocks.
+ PartitionedMatrixView(const BlockSparseMatrixBase& matrix,
+ int num_col_blocks_a);
+ ~PartitionedMatrixView();
+
+ // y += E'x
+ void LeftMultiplyE(const double* x, double* y) const;
+
+ // y += F'x
+ void LeftMultiplyF(const double* x, double* y) const;
+
+ // y += Ex
+ void RightMultiplyE(const double* x, double* y) const;
+
+ // y += Fx
+ void RightMultiplyF(const double* x, double* y) const;
+
+ // Create and return the block diagonal of the matrix E'E.
+ BlockSparseMatrix* CreateBlockDiagonalEtE() const;
+
+ // Create and return the block diagonal of the matrix F'F.
+ BlockSparseMatrix* CreateBlockDiagonalFtF() const;
+
+ // Compute the block diagonal of the matrix E'E and store it in
+ // block_diagonal. The matrix block_diagonal is expected to have a
+ // BlockStructure (preferably created using
+ // CreateBlockDiagonalMatrixEtE) which is has the same structure as
+ // the block diagonal of E'E.
+ void UpdateBlockDiagonalEtE(BlockSparseMatrix* block_diagonal) const;
+
+ // Compute the block diagonal of the matrix F'F and store it in
+ // block_diagonal. The matrix block_diagonal is expected to have a
+ // BlockStructure (preferably created using
+ // CreateBlockDiagonalMatrixFtF) which is has the same structure as
+ // the block diagonal of F'F.
+ void UpdateBlockDiagonalFtF(BlockSparseMatrix* block_diagonal) const;
+
+ int num_col_blocks_e() const { return num_col_blocks_e_; }
+ int num_col_blocks_f() const { return num_col_blocks_f_; }
+ int num_cols_e() const { return num_cols_e_; }
+ int num_cols_f() const { return num_cols_f_; }
+ int num_rows() const { return matrix_.num_rows(); }
+ int num_cols() const { return matrix_.num_cols(); }
+
+ private:
+ BlockSparseMatrix* CreateBlockDiagonalMatrixLayout(int start_col_block,
+ int end_col_block) const;
+
+ const BlockSparseMatrixBase& matrix_;
+ int num_row_blocks_e_;
+ int num_col_blocks_e_;
+ int num_col_blocks_f_;
+ int num_cols_e_;
+ int num_cols_f_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_PARTITIONED_MATRIX_VIEW_H_
diff --git a/internal/ceres/partitioned_matrix_view_test.cc b/internal/ceres/partitioned_matrix_view_test.cc
new file mode 100644
index 0000000..48f7d24
--- /dev/null
+++ b/internal/ceres/partitioned_matrix_view_test.cc
@@ -0,0 +1,191 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/partitioned_matrix_view.h"
+
+#include <vector>
+#include "ceres/block_structure.h"
+#include "ceres/casts.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/random.h"
+#include "ceres/sparse_matrix.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+const double kEpsilon = 1e-14;
+
+class PartitionedMatrixViewTest : public ::testing::Test {
+ protected :
+ virtual void SetUp() {
+ scoped_ptr<LinearLeastSquaresProblem> problem(
+ CreateLinearLeastSquaresProblemFromId(2));
+ CHECK_NOTNULL(problem.get());
+ A_.reset(problem->A.release());
+
+ num_cols_ = A_->num_cols();
+ num_rows_ = A_->num_rows();
+ num_eliminate_blocks_ = problem->num_eliminate_blocks;
+ }
+
+ int num_rows_;
+ int num_cols_;
+ int num_eliminate_blocks_;
+
+ scoped_ptr<SparseMatrix> A_;
+};
+
+TEST_F(PartitionedMatrixViewTest, DimensionsTest) {
+ PartitionedMatrixView m(*down_cast<BlockSparseMatrix*>(A_.get()),
+ num_eliminate_blocks_);
+ EXPECT_EQ(m.num_col_blocks_e(), num_eliminate_blocks_);
+ EXPECT_EQ(m.num_col_blocks_f(), num_cols_ - num_eliminate_blocks_);
+ EXPECT_EQ(m.num_cols_e(), num_eliminate_blocks_);
+ EXPECT_EQ(m.num_cols_f(), num_cols_ - num_eliminate_blocks_);
+ EXPECT_EQ(m.num_cols(), A_->num_cols());
+ EXPECT_EQ(m.num_rows(), A_->num_rows());
+}
+
+TEST_F(PartitionedMatrixViewTest, RightMultiplyE) {
+ PartitionedMatrixView m(*down_cast<BlockSparseMatrix*>(A_.get()),
+ num_eliminate_blocks_);
+
+ srand(5);
+
+ Vector x1(m.num_cols_e());
+ Vector x2(m.num_cols());
+ x2.setZero();
+
+ for (int i = 0; i < m.num_cols_e(); ++i) {
+ x1(i) = x2(i) = RandDouble();
+ }
+
+ Vector y1 = Vector::Zero(m.num_rows());
+ m.RightMultiplyE(x1.data(), y1.data());
+
+ Vector y2 = Vector::Zero(m.num_rows());
+ A_->RightMultiply(x2.data(), y2.data());
+
+ for (int i = 0; i < m.num_rows(); ++i) {
+ EXPECT_NEAR(y1(i), y2(i), kEpsilon);
+ }
+}
+
+TEST_F(PartitionedMatrixViewTest, RightMultiplyF) {
+ PartitionedMatrixView m(*down_cast<BlockSparseMatrix*>(A_.get()),
+ num_eliminate_blocks_);
+
+ srand(5);
+
+ Vector x1(m.num_cols_f());
+ Vector x2 = Vector::Zero(m.num_cols());
+
+ for (int i = 0; i < m.num_cols_f(); ++i) {
+ x1(i) = RandDouble();
+ x2(i + m.num_cols_e()) = x1(i);
+ }
+
+ Vector y1 = Vector::Zero(m.num_rows());
+ m.RightMultiplyF(x1.data(), y1.data());
+
+ Vector y2 = Vector::Zero(m.num_rows());
+ A_->RightMultiply(x2.data(), y2.data());
+
+ for (int i = 0; i < m.num_rows(); ++i) {
+ EXPECT_NEAR(y1(i), y2(i), kEpsilon);
+ }
+}
+
+TEST_F(PartitionedMatrixViewTest, LeftMultiply) {
+ PartitionedMatrixView m(*down_cast<BlockSparseMatrix*>(A_.get()),
+ num_eliminate_blocks_);
+
+ srand(5);
+
+ Vector x = Vector::Zero(m.num_rows());
+ for (int i = 0; i < m.num_rows(); ++i) {
+ x(i) = RandDouble();
+ }
+
+ Vector y = Vector::Zero(m.num_cols());
+ Vector y1 = Vector::Zero(m.num_cols_e());
+ Vector y2 = Vector::Zero(m.num_cols_f());
+
+ A_->LeftMultiply(x.data(), y.data());
+ m.LeftMultiplyE(x.data(), y1.data());
+ m.LeftMultiplyF(x.data(), y2.data());
+
+ for (int i = 0; i < m.num_cols(); ++i) {
+ EXPECT_NEAR(y(i),
+ (i < m.num_cols_e()) ? y1(i) : y2(i - m.num_cols_e()),
+ kEpsilon);
+ }
+}
+
+TEST_F(PartitionedMatrixViewTest, BlockDiagonalEtE) {
+ PartitionedMatrixView m(*down_cast<BlockSparseMatrix*>(A_.get()),
+ num_eliminate_blocks_);
+
+ scoped_ptr<BlockSparseMatrix>
+ block_diagonal_ee(m.CreateBlockDiagonalEtE());
+ const CompressedRowBlockStructure* bs = block_diagonal_ee->block_structure();
+
+ EXPECT_EQ(block_diagonal_ee->num_rows(), 2);
+ EXPECT_EQ(block_diagonal_ee->num_cols(), 2);
+ EXPECT_EQ(bs->cols.size(), 2);
+ EXPECT_EQ(bs->rows.size(), 2);
+
+ EXPECT_NEAR(block_diagonal_ee->values()[0], 10.0, kEpsilon);
+ EXPECT_NEAR(block_diagonal_ee->values()[1], 155.0, kEpsilon);
+}
+
+TEST_F(PartitionedMatrixViewTest, BlockDiagonalFtF) {
+ PartitionedMatrixView m(*down_cast<BlockSparseMatrix*>(A_.get()),
+ num_eliminate_blocks_);
+
+ scoped_ptr<BlockSparseMatrix>
+ block_diagonal_ff(m.CreateBlockDiagonalFtF());
+ const CompressedRowBlockStructure* bs = block_diagonal_ff->block_structure();
+
+ EXPECT_EQ(block_diagonal_ff->num_rows(), 3);
+ EXPECT_EQ(block_diagonal_ff->num_cols(), 3);
+ EXPECT_EQ(bs->cols.size(), 3);
+ EXPECT_EQ(bs->rows.size(), 3);
+ EXPECT_NEAR(block_diagonal_ff->values()[0], 70.0, kEpsilon);
+ EXPECT_NEAR(block_diagonal_ff->values()[1], 17.0, kEpsilon);
+ EXPECT_NEAR(block_diagonal_ff->values()[2], 37.0, kEpsilon);
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/polynomial_solver.cc b/internal/ceres/polynomial_solver.cc
new file mode 100644
index 0000000..0ece7bc
--- /dev/null
+++ b/internal/ceres/polynomial_solver.cc
@@ -0,0 +1,183 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: moll.markus@arcor.de (Markus Moll)
+
+#include "ceres/polynomial_solver.h"
+
+#include <cmath>
+#include <cstddef>
+#include "Eigen/Dense"
+#include "ceres/internal/port.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+namespace {
+
+// Balancing function as described by B. N. Parlett and C. Reinsch,
+// "Balancing a Matrix for Calculation of Eigenvalues and Eigenvectors".
+// In: Numerische Mathematik, Volume 13, Number 4 (1969), 293-304,
+// Springer Berlin / Heidelberg. DOI: 10.1007/BF02165404
+void BalanceCompanionMatrix(Matrix* companion_matrix_ptr) {
+ CHECK_NOTNULL(companion_matrix_ptr);
+ Matrix& companion_matrix = *companion_matrix_ptr;
+ Matrix companion_matrix_offdiagonal = companion_matrix;
+ companion_matrix_offdiagonal.diagonal().setZero();
+
+ const int degree = companion_matrix.rows();
+
+ // gamma <= 1 controls how much a change in the scaling has to
+ // lower the 1-norm of the companion matrix to be accepted.
+ //
+ // gamma = 1 seems to lead to cycles (numerical issues?), so
+ // we set it slightly lower.
+ const double gamma = 0.9;
+
+ // Greedily scale row/column pairs until there is no change.
+ bool scaling_has_changed;
+ do {
+ scaling_has_changed = false;
+
+ for (int i = 0; i < degree; ++i) {
+ const double row_norm = companion_matrix_offdiagonal.row(i).lpNorm<1>();
+ const double col_norm = companion_matrix_offdiagonal.col(i).lpNorm<1>();
+
+ // Decompose row_norm/col_norm into mantissa * 2^exponent,
+ // where 0.5 <= mantissa < 1. Discard mantissa (return value
+ // of frexp), as only the exponent is needed.
+ int exponent = 0;
+ std::frexp(row_norm / col_norm, &exponent);
+ exponent /= 2;
+
+ if (exponent != 0) {
+ const double scaled_col_norm = std::ldexp(col_norm, exponent);
+ const double scaled_row_norm = std::ldexp(row_norm, -exponent);
+ if (scaled_col_norm + scaled_row_norm < gamma * (col_norm + row_norm)) {
+ // Accept the new scaling. (Multiplication by powers of 2 should not
+ // introduce rounding errors (ignoring non-normalized numbers and
+ // over- or underflow))
+ scaling_has_changed = true;
+ companion_matrix_offdiagonal.row(i) *= std::ldexp(1.0, -exponent);
+ companion_matrix_offdiagonal.col(i) *= std::ldexp(1.0, exponent);
+ }
+ }
+ }
+ } while (scaling_has_changed);
+
+ companion_matrix_offdiagonal.diagonal() = companion_matrix.diagonal();
+ companion_matrix = companion_matrix_offdiagonal;
+ VLOG(3) << "Balanced companion matrix is\n" << companion_matrix;
+}
+
+void BuildCompanionMatrix(const Vector& polynomial,
+ Matrix* companion_matrix_ptr) {
+ CHECK_NOTNULL(companion_matrix_ptr);
+ Matrix& companion_matrix = *companion_matrix_ptr;
+
+ const int degree = polynomial.size() - 1;
+
+ companion_matrix.resize(degree, degree);
+ companion_matrix.setZero();
+ companion_matrix.diagonal(-1).setOnes();
+ companion_matrix.col(degree - 1) = -polynomial.reverse().head(degree);
+}
+
+// Remove leading terms with zero coefficients.
+Vector RemoveLeadingZeros(const Vector& polynomial_in) {
+ int i = 0;
+ while (i < (polynomial_in.size() - 1) && polynomial_in(i) == 0.0) {
+ ++i;
+ }
+ return polynomial_in.tail(polynomial_in.size() - i);
+}
+} // namespace
+
+bool FindPolynomialRoots(const Vector& polynomial_in,
+ Vector* real,
+ Vector* imaginary) {
+ if (polynomial_in.size() == 0) {
+ LOG(ERROR) << "Invalid polynomial of size 0 passed to FindPolynomialRoots";
+ return false;
+ }
+
+ Vector polynomial = RemoveLeadingZeros(polynomial_in);
+ const int degree = polynomial.size() - 1;
+
+ // Is the polynomial constant?
+ if (degree == 0) {
+ LOG(WARNING) << "Trying to extract roots from a constant "
+ << "polynomial in FindPolynomialRoots";
+ return true;
+ }
+
+ // Divide by leading term
+ const double leading_term = polynomial(0);
+ polynomial /= leading_term;
+
+ // Separately handle linear polynomials.
+ if (degree == 1) {
+ if (real != NULL) {
+ real->resize(1);
+ (*real)(0) = -polynomial(1);
+ }
+ if (imaginary != NULL) {
+ imaginary->resize(1);
+ imaginary->setZero();
+ }
+ }
+
+ // The degree is now known to be at least 2.
+ // Build and balance the companion matrix to the polynomial.
+ Matrix companion_matrix(degree, degree);
+ BuildCompanionMatrix(polynomial, &companion_matrix);
+ BalanceCompanionMatrix(&companion_matrix);
+
+ // Find its (complex) eigenvalues.
+ Eigen::EigenSolver<Matrix> solver(companion_matrix, false);
+ if (solver.info() != Eigen::Success) {
+ LOG(ERROR) << "Failed to extract eigenvalues from companion matrix.";
+ return false;
+ }
+
+ // Output roots
+ if (real != NULL) {
+ *real = solver.eigenvalues().real();
+ } else {
+ LOG(WARNING) << "NULL pointer passed as real argument to "
+ << "FindPolynomialRoots. Real parts of the roots will not "
+ << "be returned.";
+ }
+ if (imaginary != NULL) {
+ *imaginary = solver.eigenvalues().imag();
+ }
+ return true;
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/polynomial_solver.h b/internal/ceres/polynomial_solver.h
new file mode 100644
index 0000000..1cf07dd
--- /dev/null
+++ b/internal/ceres/polynomial_solver.h
@@ -0,0 +1,65 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: moll.markus@arcor.de (Markus Moll)
+
+#ifndef CERES_INTERNAL_POLYNOMIAL_SOLVER_H_
+#define CERES_INTERNAL_POLYNOMIAL_SOLVER_H_
+
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+// Use the companion matrix eigenvalues to determine the roots of the polynomial
+//
+// sum_{i=0}^N polynomial(i) x^{N-i}.
+//
+// This function returns true on success, false otherwise.
+// Failure indicates that the polynomial is invalid (of size 0) or
+// that the eigenvalues of the companion matrix could not be computed.
+// On failure, a more detailed message will be written to LOG(ERROR).
+// If real is not NULL, the real parts of the roots will be returned in it.
+// Likewise, if imaginary is not NULL, imaginary parts will be returned in it.
+bool FindPolynomialRoots(const Vector& polynomial,
+ Vector* real,
+ Vector* imaginary);
+
+// Evaluate the polynomial at x using the Horner scheme.
+inline double EvaluatePolynomial(const Vector& polynomial, double x) {
+ double v = 0.0;
+ for (int i = 0; i < polynomial.size(); ++i) {
+ v = v * x + polynomial(i);
+ }
+ return v;
+}
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_POLYNOMIAL_SOLVER_H_
diff --git a/internal/ceres/polynomial_solver_test.cc b/internal/ceres/polynomial_solver_test.cc
new file mode 100644
index 0000000..ae347fb
--- /dev/null
+++ b/internal/ceres/polynomial_solver_test.cc
@@ -0,0 +1,223 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: moll.markus@arcor.de (Markus Moll)
+
+#include "ceres/polynomial_solver.h"
+
+#include <limits>
+#include <cmath>
+#include <cstddef>
+#include <algorithm>
+#include "gtest/gtest.h"
+#include "ceres/test_util.h"
+
+namespace ceres {
+namespace internal {
+namespace {
+
+// For IEEE-754 doubles, machine precision is about 2e-16.
+const double kEpsilon = 1e-13;
+const double kEpsilonLoose = 1e-9;
+
+// Return the constant polynomial p(x) = 1.23.
+Vector ConstantPolynomial(double value) {
+ Vector poly(1);
+ poly(0) = value;
+ return poly;
+}
+
+// Return the polynomial p(x) = poly(x) * (x - root).
+Vector AddRealRoot(const Vector& poly, double root) {
+ Vector poly2(poly.size() + 1);
+ poly2.setZero();
+ poly2.head(poly.size()) += poly;
+ poly2.tail(poly.size()) -= root * poly;
+ return poly2;
+}
+
+// Return the polynomial
+// p(x) = poly(x) * (x - real - imag*i) * (x - real + imag*i).
+Vector AddComplexRootPair(const Vector& poly, double real, double imag) {
+ Vector poly2(poly.size() + 2);
+ poly2.setZero();
+ // Multiply poly by x^2 - 2real + abs(real,imag)^2
+ poly2.head(poly.size()) += poly;
+ poly2.segment(1, poly.size()) -= 2 * real * poly;
+ poly2.tail(poly.size()) += (real*real + imag*imag) * poly;
+ return poly2;
+}
+
+// Sort the entries in a vector.
+// Needed because the roots are not returned in sorted order.
+Vector SortVector(const Vector& in) {
+ Vector out(in);
+ std::sort(out.data(), out.data() + out.size());
+ return out;
+}
+
+// Run a test with the polynomial defined by the N real roots in roots_real.
+// If use_real is false, NULL is passed as the real argument to
+// FindPolynomialRoots. If use_imaginary is false, NULL is passed as the
+// imaginary argument to FindPolynomialRoots.
+template<int N>
+void RunPolynomialTestRealRoots(const double (&real_roots)[N],
+ bool use_real,
+ bool use_imaginary,
+ double epsilon) {
+ Vector real;
+ Vector imaginary;
+ Vector poly = ConstantPolynomial(1.23);
+ for (int i = 0; i < N; ++i) {
+ poly = AddRealRoot(poly, real_roots[i]);
+ }
+ Vector* const real_ptr = use_real ? &real : NULL;
+ Vector* const imaginary_ptr = use_imaginary ? &imaginary : NULL;
+ bool success = FindPolynomialRoots(poly, real_ptr, imaginary_ptr);
+
+ EXPECT_EQ(success, true);
+ if (use_real) {
+ EXPECT_EQ(real.size(), N);
+ real = SortVector(real);
+ ExpectArraysClose(N, real.data(), real_roots, epsilon);
+ }
+ if (use_imaginary) {
+ EXPECT_EQ(imaginary.size(), N);
+ const Vector zeros = Vector::Zero(N);
+ ExpectArraysClose(N, imaginary.data(), zeros.data(), epsilon);
+ }
+}
+} // namespace
+
+TEST(PolynomialSolver, InvalidPolynomialOfZeroLengthIsRejected) {
+ // Vector poly(0) is an ambiguous constructor call, so
+ // use the constructor with explicit column count.
+ Vector poly(0, 1);
+ Vector real;
+ Vector imag;
+ bool success = FindPolynomialRoots(poly, &real, &imag);
+
+ EXPECT_EQ(success, false);
+}
+
+TEST(PolynomialSolver, ConstantPolynomialReturnsNoRoots) {
+ Vector poly = ConstantPolynomial(1.23);
+ Vector real;
+ Vector imag;
+ bool success = FindPolynomialRoots(poly, &real, &imag);
+
+ EXPECT_EQ(success, true);
+ EXPECT_EQ(real.size(), 0);
+ EXPECT_EQ(imag.size(), 0);
+}
+
+TEST(PolynomialSolver, LinearPolynomialWithPositiveRootWorks) {
+ const double roots[1] = { 42.42 };
+ RunPolynomialTestRealRoots(roots, true, true, kEpsilon);
+}
+
+TEST(PolynomialSolver, LinearPolynomialWithNegativeRootWorks) {
+ const double roots[1] = { -42.42 };
+ RunPolynomialTestRealRoots(roots, true, true, kEpsilon);
+}
+
+TEST(PolynomialSolver, QuadraticPolynomialWithPositiveRootsWorks) {
+ const double roots[2] = { 1.0, 42.42 };
+ RunPolynomialTestRealRoots(roots, true, true, kEpsilon);
+}
+
+TEST(PolynomialSolver, QuadraticPolynomialWithOneNegativeRootWorks) {
+ const double roots[2] = { -42.42, 1.0 };
+ RunPolynomialTestRealRoots(roots, true, true, kEpsilon);
+}
+
+TEST(PolynomialSolver, QuadraticPolynomialWithTwoNegativeRootsWorks) {
+ const double roots[2] = { -42.42, -1.0 };
+ RunPolynomialTestRealRoots(roots, true, true, kEpsilon);
+}
+
+TEST(PolynomialSolver, QuadraticPolynomialWithCloseRootsWorks) {
+ const double roots[2] = { 42.42, 42.43 };
+ RunPolynomialTestRealRoots(roots, true, false, kEpsilonLoose);
+}
+
+TEST(PolynomialSolver, QuadraticPolynomialWithComplexRootsWorks) {
+ Vector real;
+ Vector imag;
+
+ Vector poly = ConstantPolynomial(1.23);
+ poly = AddComplexRootPair(poly, 42.42, 4.2);
+ bool success = FindPolynomialRoots(poly, &real, &imag);
+
+ EXPECT_EQ(success, true);
+ EXPECT_EQ(real.size(), 2);
+ EXPECT_EQ(imag.size(), 2);
+ ExpectClose(real(0), 42.42, kEpsilon);
+ ExpectClose(real(1), 42.42, kEpsilon);
+ ExpectClose(std::abs(imag(0)), 4.2, kEpsilon);
+ ExpectClose(std::abs(imag(1)), 4.2, kEpsilon);
+ ExpectClose(std::abs(imag(0) + imag(1)), 0.0, kEpsilon);
+}
+
+TEST(PolynomialSolver, QuarticPolynomialWorks) {
+ const double roots[4] = { 1.23e-4, 1.23e-1, 1.23e+2, 1.23e+5 };
+ RunPolynomialTestRealRoots(roots, true, true, kEpsilon);
+}
+
+TEST(PolynomialSolver, QuarticPolynomialWithTwoClustersOfCloseRootsWorks) {
+ const double roots[4] = { 1.23e-1, 2.46e-1, 1.23e+5, 2.46e+5 };
+ RunPolynomialTestRealRoots(roots, true, true, kEpsilonLoose);
+}
+
+TEST(PolynomialSolver, QuarticPolynomialWithTwoZeroRootsWorks) {
+ const double roots[4] = { -42.42, 0.0, 0.0, 42.42 };
+ RunPolynomialTestRealRoots(roots, true, true, kEpsilonLoose);
+}
+
+TEST(PolynomialSolver, QuarticMonomialWorks) {
+ const double roots[4] = { 0.0, 0.0, 0.0, 0.0 };
+ RunPolynomialTestRealRoots(roots, true, true, kEpsilon);
+}
+
+TEST(PolynomialSolver, NullPointerAsImaginaryPartWorks) {
+ const double roots[4] = { 1.23e-4, 1.23e-1, 1.23e+2, 1.23e+5 };
+ RunPolynomialTestRealRoots(roots, true, false, kEpsilon);
+}
+
+TEST(PolynomialSolver, NullPointerAsRealPartWorks) {
+ const double roots[4] = { 1.23e-4, 1.23e-1, 1.23e+2, 1.23e+5 };
+ RunPolynomialTestRealRoots(roots, false, true, kEpsilon);
+}
+
+TEST(PolynomialSolver, BothOutputArgumentsNullWorks) {
+ const double roots[4] = { 1.23e-4, 1.23e-1, 1.23e+2, 1.23e+5 };
+ RunPolynomialTestRealRoots(roots, false, false, kEpsilon);
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/problem.cc b/internal/ceres/problem.cc
new file mode 100644
index 0000000..7ee5b5c
--- /dev/null
+++ b/internal/ceres/problem.cc
@@ -0,0 +1,189 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+// keir@google.com (Keir Mierle)
+
+#include "ceres/problem.h"
+
+#include <vector>
+#include "ceres/problem_impl.h"
+
+namespace ceres {
+
+class ResidualBlock;
+
+Problem::Problem() : problem_impl_(new internal::ProblemImpl) {}
+Problem::Problem(const Problem::Options& options)
+ : problem_impl_(new internal::ProblemImpl(options)) {}
+Problem::~Problem() {}
+
+ResidualBlockId Problem::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ const vector<double*>& parameter_blocks) {
+ return problem_impl_->AddResidualBlock(cost_function,
+ loss_function,
+ parameter_blocks);
+}
+
+ResidualBlockId Problem::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0) {
+ return problem_impl_->AddResidualBlock(cost_function,
+ loss_function,
+ x0);
+}
+
+ResidualBlockId Problem::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1) {
+ return problem_impl_->AddResidualBlock(cost_function,
+ loss_function,
+ x0, x1);
+}
+
+ResidualBlockId Problem::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2) {
+ return problem_impl_->AddResidualBlock(cost_function,
+ loss_function,
+ x0, x1, x2);
+}
+
+ResidualBlockId Problem::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2, double* x3) {
+ return problem_impl_->AddResidualBlock(cost_function,
+ loss_function,
+ x0, x1, x2, x3);
+}
+
+ResidualBlockId Problem::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2, double* x3, double* x4) {
+ return problem_impl_->AddResidualBlock(cost_function,
+ loss_function,
+ x0, x1, x2, x3, x4);
+}
+
+ResidualBlockId Problem::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2, double* x3, double* x4, double* x5) {
+ return problem_impl_->AddResidualBlock(cost_function,
+ loss_function,
+ x0, x1, x2, x3, x4, x5);
+}
+
+ResidualBlockId Problem::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
+ double* x6) {
+ return problem_impl_->AddResidualBlock(cost_function,
+ loss_function,
+ x0, x1, x2, x3, x4, x5, x6);
+}
+
+ResidualBlockId Problem::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
+ double* x6, double* x7) {
+ return problem_impl_->AddResidualBlock(cost_function,
+ loss_function,
+ x0, x1, x2, x3, x4, x5, x6, x7);
+}
+
+ResidualBlockId Problem::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
+ double* x6, double* x7, double* x8) {
+ return problem_impl_->AddResidualBlock(cost_function,
+ loss_function,
+ x0, x1, x2, x3, x4, x5, x6, x7, x8);
+}
+
+ResidualBlockId Problem::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
+ double* x6, double* x7, double* x8, double* x9) {
+ return problem_impl_->AddResidualBlock(cost_function,
+ loss_function,
+ x0, x1, x2, x3, x4, x5, x6, x7, x8, x9);
+}
+
+void Problem::AddParameterBlock(double* values, int size) {
+ problem_impl_->AddParameterBlock(values, size);
+}
+
+void Problem::AddParameterBlock(double* values,
+ int size,
+ LocalParameterization* local_parameterization) {
+ problem_impl_->AddParameterBlock(values, size, local_parameterization);
+}
+
+void Problem::SetParameterBlockConstant(double* values) {
+ problem_impl_->SetParameterBlockConstant(values);
+}
+
+void Problem::SetParameterBlockVariable(double* values) {
+ problem_impl_->SetParameterBlockVariable(values);
+}
+
+void Problem::SetParameterization(
+ double* values,
+ LocalParameterization* local_parameterization) {
+ problem_impl_->SetParameterization(values, local_parameterization);
+}
+
+int Problem::NumParameterBlocks() const {
+ return problem_impl_->NumParameterBlocks();
+}
+
+int Problem::NumParameters() const {
+ return problem_impl_->NumParameters();
+}
+
+int Problem::NumResidualBlocks() const {
+ return problem_impl_->NumResidualBlocks();
+}
+
+int Problem::NumResiduals() const {
+ return problem_impl_->NumResiduals();
+}
+
+} // namespace ceres
diff --git a/internal/ceres/problem_impl.cc b/internal/ceres/problem_impl.cc
new file mode 100644
index 0000000..f061e33
--- /dev/null
+++ b/internal/ceres/problem_impl.cc
@@ -0,0 +1,427 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+// keir@google.com (Keir Mierle)
+
+#include "ceres/problem_impl.h"
+
+#include <algorithm>
+#include <cstddef>
+#include <set>
+#include <string>
+#include <utility>
+#include <vector>
+#include "ceres/cost_function.h"
+#include "ceres/loss_function.h"
+#include "ceres/map_util.h"
+#include "ceres/parameter_block.h"
+#include "ceres/program.h"
+#include "ceres/residual_block.h"
+#include "ceres/stl_util.h"
+#include "ceres/stringprintf.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+typedef map<double*, internal::ParameterBlock*> ParameterMap;
+
+// Returns true if two regions of memory, a and b, with sizes size_a and size_b
+// respectively, overlap.
+static bool RegionsAlias(const double* a, int size_a,
+ const double* b, int size_b) {
+ return (a < b) ? b < (a + size_a)
+ : a < (b + size_b);
+}
+
+static void CheckForNoAliasing(double* existing_block,
+ int existing_block_size,
+ double* new_block,
+ int new_block_size) {
+ CHECK(!RegionsAlias(existing_block, existing_block_size,
+ new_block, new_block_size))
+ << "Aliasing detected between existing parameter block at memory "
+ << "location " << existing_block
+ << " and has size " << existing_block_size << " with new parameter "
+ << "block that has memory adderss " << new_block << " and would have "
+ << "size " << new_block_size << ".";
+}
+
+static ParameterBlock* InternalAddParameterBlock(
+ double* values,
+ int size,
+ ParameterMap* parameter_map,
+ vector<ParameterBlock*>* parameter_blocks) {
+ CHECK(values) << "Null pointer passed to AddParameterBlock for a parameter "
+ << "with size " << size;
+
+ // Ignore the request if there is a block for the given pointer already.
+ ParameterMap::iterator it = parameter_map->find(values);
+ if (it != parameter_map->end()) {
+ int existing_size = it->second->Size();
+ CHECK(size == existing_size)
+ << "Tried adding a parameter block with the same double pointer, "
+ << values << ", twice, but with different block sizes. Original "
+ << "size was " << existing_size << " but new size is "
+ << size;
+ return it->second;
+ }
+ // Before adding the parameter block, also check that it doesn't alias any
+ // other parameter blocks.
+ if (!parameter_map->empty()) {
+ ParameterMap::iterator lb = parameter_map->lower_bound(values);
+
+ // If lb is not the first block, check the previous block for aliasing.
+ if (lb != parameter_map->begin()) {
+ ParameterMap::iterator previous = lb;
+ --previous;
+ CheckForNoAliasing(previous->first,
+ previous->second->Size(),
+ values,
+ size);
+ }
+
+ // If lb is not off the end, check lb for aliasing.
+ if (lb != parameter_map->end()) {
+ CheckForNoAliasing(lb->first,
+ lb->second->Size(),
+ values,
+ size);
+ }
+ }
+ ParameterBlock* new_parameter_block = new ParameterBlock(values, size);
+ (*parameter_map)[values] = new_parameter_block;
+ parameter_blocks->push_back(new_parameter_block);
+ return new_parameter_block;
+}
+
+ProblemImpl::ProblemImpl() : program_(new internal::Program) {}
+ProblemImpl::ProblemImpl(const Problem::Options& options)
+ : options_(options),
+ program_(new internal::Program) {}
+
+ProblemImpl::~ProblemImpl() {
+ // Collect the unique cost/loss functions and delete the residuals.
+ set<CostFunction*> cost_functions;
+ set<LossFunction*> loss_functions;
+ for (int i = 0; i < program_->residual_blocks_.size(); ++i) {
+ ResidualBlock* residual_block = program_->residual_blocks_[i];
+
+ // The const casts here are legit, since ResidualBlock holds these
+ // pointers as const pointers but we have ownership of them and
+ // have the right to destroy them when the destructor is called.
+ if (options_.cost_function_ownership == TAKE_OWNERSHIP) {
+ cost_functions.insert(
+ const_cast<CostFunction*>(residual_block->cost_function()));
+ }
+ if (options_.loss_function_ownership == TAKE_OWNERSHIP) {
+ loss_functions.insert(
+ const_cast<LossFunction*>(residual_block->loss_function()));
+ }
+
+ delete residual_block;
+ }
+
+ // Collect the unique parameterizations and delete the parameters.
+ set<LocalParameterization*> local_parameterizations;
+ for (int i = 0; i < program_->parameter_blocks_.size(); ++i) {
+ ParameterBlock* parameter_block = program_->parameter_blocks_[i];
+
+ if (options_.local_parameterization_ownership == TAKE_OWNERSHIP) {
+ local_parameterizations.insert(parameter_block->local_parameterization_);
+ }
+
+ delete parameter_block;
+ }
+
+ // Delete the owned cost/loss functions and parameterizations.
+ STLDeleteContainerPointers(local_parameterizations.begin(),
+ local_parameterizations.end());
+ STLDeleteContainerPointers(cost_functions.begin(),
+ cost_functions.end());
+ STLDeleteContainerPointers(loss_functions.begin(),
+ loss_functions.end());
+}
+
+const ResidualBlock* ProblemImpl::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ const vector<double*>& parameter_blocks) {
+ CHECK_NOTNULL(cost_function);
+ CHECK_EQ(parameter_blocks.size(),
+ cost_function->parameter_block_sizes().size());
+
+ // Check the sizes match.
+ const vector<int16>& parameter_block_sizes =
+ cost_function->parameter_block_sizes();
+ CHECK_EQ(parameter_block_sizes.size(), parameter_blocks.size())
+ << "Number of blocks input is different than the number of blocks "
+ << "that the cost function expects.";
+
+ // Check for duplicate parameter blocks.
+ vector<double*> sorted_parameter_blocks(parameter_blocks);
+ sort(sorted_parameter_blocks.begin(), sorted_parameter_blocks.end());
+ vector<double*>::const_iterator duplicate_items =
+ unique(sorted_parameter_blocks.begin(),
+ sorted_parameter_blocks.end());
+ if (duplicate_items != sorted_parameter_blocks.end()) {
+ string blocks;
+ for (int i = 0; i < parameter_blocks.size(); ++i) {
+ blocks += internal::StringPrintf(" %p ", parameter_blocks[i]);
+ }
+
+ LOG(FATAL) << "Duplicate parameter blocks in a residual parameter "
+ << "are not allowed. Parameter block pointers: ["
+ << blocks << "]";
+ }
+
+ // Add parameter blocks and convert the double*'s to parameter blocks.
+ vector<ParameterBlock*> parameter_block_ptrs(parameter_blocks.size());
+ for (int i = 0; i < parameter_blocks.size(); ++i) {
+ parameter_block_ptrs[i] =
+ InternalAddParameterBlock(parameter_blocks[i],
+ parameter_block_sizes[i],
+ ¶meter_block_map_,
+ &program_->parameter_blocks_);
+ }
+
+ // Check that the block sizes match the block sizes expected by the
+ // cost_function.
+ for (int i = 0; i < parameter_block_ptrs.size(); ++i) {
+ CHECK_EQ(cost_function->parameter_block_sizes()[i],
+ parameter_block_ptrs[i]->Size())
+ << "The cost function expects parameter block " << i
+ << " of size " << cost_function->parameter_block_sizes()[i]
+ << " but was given a block of size "
+ << parameter_block_ptrs[i]->Size();
+ }
+
+ ResidualBlock* new_residual_block =
+ new ResidualBlock(cost_function,
+ loss_function,
+ parameter_block_ptrs);
+ program_->residual_blocks_.push_back(new_residual_block);
+ return new_residual_block;
+}
+
+// Unfortunately, macros don't help much to reduce this code, and var args don't
+// work because of the ambiguous case that there is no loss function.
+const ResidualBlock* ProblemImpl::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0) {
+ vector<double*> residual_parameters;
+ residual_parameters.push_back(x0);
+ return AddResidualBlock(cost_function, loss_function, residual_parameters);
+}
+
+const ResidualBlock* ProblemImpl::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1) {
+ vector<double*> residual_parameters;
+ residual_parameters.push_back(x0);
+ residual_parameters.push_back(x1);
+ return AddResidualBlock(cost_function, loss_function, residual_parameters);
+}
+
+const ResidualBlock* ProblemImpl::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2) {
+ vector<double*> residual_parameters;
+ residual_parameters.push_back(x0);
+ residual_parameters.push_back(x1);
+ residual_parameters.push_back(x2);
+ return AddResidualBlock(cost_function, loss_function, residual_parameters);
+}
+
+const ResidualBlock* ProblemImpl::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2, double* x3) {
+ vector<double*> residual_parameters;
+ residual_parameters.push_back(x0);
+ residual_parameters.push_back(x1);
+ residual_parameters.push_back(x2);
+ residual_parameters.push_back(x3);
+ return AddResidualBlock(cost_function, loss_function, residual_parameters);
+}
+
+const ResidualBlock* ProblemImpl::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2, double* x3, double* x4) {
+ vector<double*> residual_parameters;
+ residual_parameters.push_back(x0);
+ residual_parameters.push_back(x1);
+ residual_parameters.push_back(x2);
+ residual_parameters.push_back(x3);
+ residual_parameters.push_back(x4);
+ return AddResidualBlock(cost_function, loss_function, residual_parameters);
+}
+
+const ResidualBlock* ProblemImpl::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2, double* x3, double* x4, double* x5) {
+ vector<double*> residual_parameters;
+ residual_parameters.push_back(x0);
+ residual_parameters.push_back(x1);
+ residual_parameters.push_back(x2);
+ residual_parameters.push_back(x3);
+ residual_parameters.push_back(x4);
+ residual_parameters.push_back(x5);
+ return AddResidualBlock(cost_function, loss_function, residual_parameters);
+}
+
+const ResidualBlock* ProblemImpl::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
+ double* x6) {
+ vector<double*> residual_parameters;
+ residual_parameters.push_back(x0);
+ residual_parameters.push_back(x1);
+ residual_parameters.push_back(x2);
+ residual_parameters.push_back(x3);
+ residual_parameters.push_back(x4);
+ residual_parameters.push_back(x5);
+ residual_parameters.push_back(x6);
+ return AddResidualBlock(cost_function, loss_function, residual_parameters);
+}
+
+const ResidualBlock* ProblemImpl::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
+ double* x6, double* x7) {
+ vector<double*> residual_parameters;
+ residual_parameters.push_back(x0);
+ residual_parameters.push_back(x1);
+ residual_parameters.push_back(x2);
+ residual_parameters.push_back(x3);
+ residual_parameters.push_back(x4);
+ residual_parameters.push_back(x5);
+ residual_parameters.push_back(x6);
+ residual_parameters.push_back(x7);
+ return AddResidualBlock(cost_function, loss_function, residual_parameters);
+}
+
+const ResidualBlock* ProblemImpl::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
+ double* x6, double* x7, double* x8) {
+ vector<double*> residual_parameters;
+ residual_parameters.push_back(x0);
+ residual_parameters.push_back(x1);
+ residual_parameters.push_back(x2);
+ residual_parameters.push_back(x3);
+ residual_parameters.push_back(x4);
+ residual_parameters.push_back(x5);
+ residual_parameters.push_back(x6);
+ residual_parameters.push_back(x7);
+ residual_parameters.push_back(x8);
+ return AddResidualBlock(cost_function, loss_function, residual_parameters);
+}
+
+const ResidualBlock* ProblemImpl::AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
+ double* x6, double* x7, double* x8, double* x9) {
+ vector<double*> residual_parameters;
+ residual_parameters.push_back(x0);
+ residual_parameters.push_back(x1);
+ residual_parameters.push_back(x2);
+ residual_parameters.push_back(x3);
+ residual_parameters.push_back(x4);
+ residual_parameters.push_back(x5);
+ residual_parameters.push_back(x6);
+ residual_parameters.push_back(x7);
+ residual_parameters.push_back(x8);
+ residual_parameters.push_back(x9);
+ return AddResidualBlock(cost_function, loss_function, residual_parameters);
+}
+
+void ProblemImpl::AddParameterBlock(double* values, int size) {
+ InternalAddParameterBlock(values,
+ size,
+ ¶meter_block_map_,
+ &program_->parameter_blocks_);
+}
+
+void ProblemImpl::AddParameterBlock(
+ double* values,
+ int size,
+ LocalParameterization* local_parameterization) {
+ ParameterBlock* parameter_block =
+ InternalAddParameterBlock(values,
+ size,
+ ¶meter_block_map_,
+ &program_->parameter_blocks_);
+ if (local_parameterization != NULL) {
+ parameter_block->SetParameterization(local_parameterization);
+ }
+}
+
+void ProblemImpl::SetParameterBlockConstant(double* values) {
+ FindOrDie(parameter_block_map_, values)->SetConstant();
+}
+
+void ProblemImpl::SetParameterBlockVariable(double* values) {
+ FindOrDie(parameter_block_map_, values)->SetVarying();
+}
+
+void ProblemImpl::SetParameterization(
+ double* values,
+ LocalParameterization* local_parameterization) {
+ FindOrDie(parameter_block_map_, values)
+ ->SetParameterization(local_parameterization);
+}
+
+int ProblemImpl::NumParameterBlocks() const {
+ return program_->NumParameterBlocks();
+}
+
+int ProblemImpl::NumParameters() const {
+ return program_->NumParameters();
+}
+
+int ProblemImpl::NumResidualBlocks() const {
+ return program_->NumResidualBlocks();
+}
+
+int ProblemImpl::NumResiduals() const {
+ return program_->NumResiduals();
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/problem_impl.h b/internal/ceres/problem_impl.h
new file mode 100644
index 0000000..2f20d0d
--- /dev/null
+++ b/internal/ceres/problem_impl.h
@@ -0,0 +1,148 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// This is the implementation of the public Problem API. The pointer to
+// implementation (PIMPL) idiom makes it possible for Ceres internal code to
+// refer to the private data members without needing to exposing it to the
+// world. An alternative to PIMPL is to have a factory which returns instances
+// of a virtual base class; while that approach would work, it requires clients
+// to always put a Problem object into a scoped pointer; this needlessly muddies
+// client code for little benefit. Therefore, the PIMPL comprise was chosen.
+
+#ifndef CERES_PUBLIC_PROBLEM_IMPL_H_
+#define CERES_PUBLIC_PROBLEM_IMPL_H_
+
+#include <map>
+#include <vector>
+
+#include "ceres/internal/macros.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/problem.h"
+#include "ceres/types.h"
+
+namespace ceres {
+
+class CostFunction;
+class LossFunction;
+class LocalParameterization;
+
+namespace internal {
+
+class Program;
+class ResidualBlock;
+
+class ProblemImpl {
+ public:
+ typedef map<double*, ParameterBlock*> ParameterMap;
+
+ ProblemImpl();
+ explicit ProblemImpl(const Problem::Options& options);
+
+ ~ProblemImpl();
+
+ // See the public problem.h file for description of these methods.
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ const vector<double*>& parameter_blocks);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2,
+ double* x3);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2,
+ double* x3, double* x4);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2,
+ double* x3, double* x4, double* x5);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2,
+ double* x3, double* x4, double* x5,
+ double* x6);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2,
+ double* x3, double* x4, double* x5,
+ double* x6, double* x7);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2,
+ double* x3, double* x4, double* x5,
+ double* x6, double* x7, double* x8);
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0, double* x1, double* x2,
+ double* x3, double* x4, double* x5,
+ double* x6, double* x7, double* x8,
+ double* x9);
+ void AddParameterBlock(double* values, int size);
+ void AddParameterBlock(double* values,
+ int size,
+ LocalParameterization* local_parameterization);
+ void SetParameterBlockConstant(double* values);
+ void SetParameterBlockVariable(double* values);
+ void SetParameterization(double* values,
+ LocalParameterization* local_parameterization);
+ int NumParameterBlocks() const;
+ int NumParameters() const;
+ int NumResidualBlocks() const;
+ int NumResiduals() const;
+
+ const Program& program() const { return *program_; }
+ Program* mutable_program() { return program_.get(); }
+
+ const ParameterMap& parameter_map() const { return parameter_block_map_; }
+
+ private:
+ const Problem::Options options_;
+
+ // The mapping from user pointers to parameter blocks.
+ map<double*, ParameterBlock*> parameter_block_map_;
+
+ internal::scoped_ptr<internal::Program> program_;
+ CERES_DISALLOW_COPY_AND_ASSIGN(ProblemImpl);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_PUBLIC_PROBLEM_IMPL_H_
diff --git a/internal/ceres/problem_test.cc b/internal/ceres/problem_test.cc
new file mode 100644
index 0000000..4afe1b5
--- /dev/null
+++ b/internal/ceres/problem_test.cc
@@ -0,0 +1,335 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+// keir@google.com (Keir Mierle)
+
+#include "ceres/problem.h"
+
+#include "gtest/gtest.h"
+#include "ceres/cost_function.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/sized_cost_function.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+// The following three classes are for the purposes of defining
+// function signatures. They have dummy Evaluate functions.
+
+// Trivial cost function that accepts a single argument.
+class UnaryCostFunction : public CostFunction {
+ public:
+ UnaryCostFunction(int num_residuals, int16 parameter_block_size) {
+ set_num_residuals(num_residuals);
+ mutable_parameter_block_sizes()->push_back(parameter_block_size);
+ }
+ virtual ~UnaryCostFunction() {}
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ for (int i = 0; i < num_residuals(); ++i) {
+ residuals[i] = 1;
+ }
+ return true;
+ }
+};
+
+// Trivial cost function that accepts two arguments.
+class BinaryCostFunction: public CostFunction {
+ public:
+ BinaryCostFunction(int num_residuals,
+ int16 parameter_block1_size,
+ int16 parameter_block2_size) {
+ set_num_residuals(num_residuals);
+ mutable_parameter_block_sizes()->push_back(parameter_block1_size);
+ mutable_parameter_block_sizes()->push_back(parameter_block2_size);
+ }
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ for (int i = 0; i < num_residuals(); ++i) {
+ residuals[i] = 2;
+ }
+ return true;
+ }
+};
+
+// Trivial cost function that accepts three arguments.
+class TernaryCostFunction: public CostFunction {
+ public:
+ TernaryCostFunction(int num_residuals,
+ int16 parameter_block1_size,
+ int16 parameter_block2_size,
+ int16 parameter_block3_size) {
+ set_num_residuals(num_residuals);
+ mutable_parameter_block_sizes()->push_back(parameter_block1_size);
+ mutable_parameter_block_sizes()->push_back(parameter_block2_size);
+ mutable_parameter_block_sizes()->push_back(parameter_block3_size);
+ }
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ for (int i = 0; i < num_residuals(); ++i) {
+ residuals[i] = 3;
+ }
+ return true;
+ }
+};
+
+TEST(Problem, AddResidualWithNullCostFunctionDies) {
+ double x[3], y[4], z[5];
+
+ Problem problem;
+ problem.AddParameterBlock(x, 3);
+ problem.AddParameterBlock(y, 4);
+ problem.AddParameterBlock(z, 5);
+
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock(NULL, NULL, x),
+ "'cost_function' Must be non NULL");
+}
+
+TEST(Problem, AddResidualWithIncorrectNumberOfParameterBlocksDies) {
+ double x[3], y[4], z[5];
+
+ Problem problem;
+ problem.AddParameterBlock(x, 3);
+ problem.AddParameterBlock(y, 4);
+ problem.AddParameterBlock(z, 5);
+
+ // UnaryCostFunction takes only one parameter, but two are passed.
+ EXPECT_DEATH_IF_SUPPORTED(
+ problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x, y),
+ "parameter_blocks.size()");
+}
+
+TEST(Problem, AddResidualWithDifferentSizesOnTheSameVariableDies) {
+ double x[3];
+
+ Problem problem;
+ problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock(
+ new UnaryCostFunction(
+ 2, 4 /* 4 != 3 */), NULL, x),
+ "different block sizes");
+}
+
+TEST(Problem, AddResidualWithDuplicateParametersDies) {
+ double x[3], z[5];
+
+ Problem problem;
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock(
+ new BinaryCostFunction(2, 3, 3), NULL, x, x),
+ "Duplicate parameter blocks");
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock(
+ new TernaryCostFunction(1, 5, 3, 5),
+ NULL, z, x, z),
+ "Duplicate parameter blocks");
+}
+
+TEST(Problem, AddResidualWithIncorrectSizesOfParameterBlockDies) {
+ double x[3], y[4], z[5];
+
+ Problem problem;
+ problem.AddParameterBlock(x, 3);
+ problem.AddParameterBlock(y, 4);
+ problem.AddParameterBlock(z, 5);
+
+ // The cost function expects the size of the second parameter, z, to be 4
+ // instead of 5 as declared above. This is fatal.
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddResidualBlock(
+ new BinaryCostFunction(2, 3, 4), NULL, x, z),
+ "different block sizes");
+}
+
+TEST(Problem, AddResidualAddsDuplicatedParametersOnlyOnce) {
+ double x[3], y[4], z[5];
+
+ Problem problem;
+ problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
+ problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
+ problem.AddResidualBlock(new UnaryCostFunction(2, 4), NULL, y);
+ problem.AddResidualBlock(new UnaryCostFunction(2, 5), NULL, z);
+
+ EXPECT_EQ(3, problem.NumParameterBlocks());
+ EXPECT_EQ(12, problem.NumParameters());
+}
+
+TEST(Problem, AddParameterWithDifferentSizesOnTheSameVariableDies) {
+ double x[3], y[4];
+
+ Problem problem;
+ problem.AddParameterBlock(x, 3);
+ problem.AddParameterBlock(y, 4);
+
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(x, 4),
+ "different block sizes");
+}
+
+static double *IntToPtr(int i) {
+ return reinterpret_cast<double*>(sizeof(double) * i); // NOLINT
+}
+
+TEST(Problem, AddParameterWithAliasedParametersDies) {
+ // Layout is
+ //
+ // 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
+ // [x] x x x x [y] y y
+ // o==o==o o==o==o o==o
+ // o--o--o o--o--o o--o o--o--o
+ //
+ // Parameter block additions are tested as listed above; expected successful
+ // ones marked with o==o and aliasing ones marked with o--o.
+
+ Problem problem;
+ problem.AddParameterBlock(IntToPtr(5), 5); // x
+ problem.AddParameterBlock(IntToPtr(13), 3); // y
+
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr( 4), 2),
+ "Aliasing detected");
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr( 4), 3),
+ "Aliasing detected");
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr( 4), 9),
+ "Aliasing detected");
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr( 8), 3),
+ "Aliasing detected");
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr(12), 2),
+ "Aliasing detected");
+ EXPECT_DEATH_IF_SUPPORTED(problem.AddParameterBlock(IntToPtr(14), 3),
+ "Aliasing detected");
+
+ // These ones should work.
+ problem.AddParameterBlock(IntToPtr( 2), 3);
+ problem.AddParameterBlock(IntToPtr(10), 3);
+ problem.AddParameterBlock(IntToPtr(16), 2);
+
+ ASSERT_EQ(5, problem.NumParameterBlocks());
+}
+
+TEST(Problem, AddParameterIgnoresDuplicateCalls) {
+ double x[3], y[4];
+
+ Problem problem;
+ problem.AddParameterBlock(x, 3);
+ problem.AddParameterBlock(y, 4);
+
+ // Creating parameter blocks multiple times is ignored.
+ problem.AddParameterBlock(x, 3);
+ problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
+
+ // ... even repeatedly.
+ problem.AddParameterBlock(x, 3);
+ problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
+
+ // More parameters are fine.
+ problem.AddParameterBlock(y, 4);
+ problem.AddResidualBlock(new UnaryCostFunction(2, 4), NULL, y);
+
+ EXPECT_EQ(2, problem.NumParameterBlocks());
+ EXPECT_EQ(7, problem.NumParameters());
+}
+
+TEST(Problem, AddingParametersAndResidualsResultsInExpectedProblem) {
+ double x[3], y[4], z[5], w[4];
+
+ Problem problem;
+ problem.AddParameterBlock(x, 3);
+ EXPECT_EQ(1, problem.NumParameterBlocks());
+ EXPECT_EQ(3, problem.NumParameters());
+
+ problem.AddParameterBlock(y, 4);
+ EXPECT_EQ(2, problem.NumParameterBlocks());
+ EXPECT_EQ(7, problem.NumParameters());
+
+ problem.AddParameterBlock(z, 5);
+ EXPECT_EQ(3, problem.NumParameterBlocks());
+ EXPECT_EQ(12, problem.NumParameters());
+
+ // Add a parameter that has a local parameterization.
+ w[0] = 1.0; w[1] = 0.0; w[2] = 0.0; w[3] = 0.0;
+ problem.AddParameterBlock(w, 4, new QuaternionParameterization);
+ EXPECT_EQ(4, problem.NumParameterBlocks());
+ EXPECT_EQ(16, problem.NumParameters());
+
+ problem.AddResidualBlock(new UnaryCostFunction(2, 3), NULL, x);
+ problem.AddResidualBlock(new BinaryCostFunction(6, 5, 4) , NULL, z, y);
+ problem.AddResidualBlock(new BinaryCostFunction(3, 3, 5), NULL, x, z);
+ problem.AddResidualBlock(new BinaryCostFunction(7, 5, 3), NULL, z, x);
+ problem.AddResidualBlock(new TernaryCostFunction(1, 5, 3, 4), NULL, z, x, y);
+
+ const int total_residuals = 2 + 6 + 3 + 7 + 1;
+ EXPECT_EQ(problem.NumResidualBlocks(), 5);
+ EXPECT_EQ(problem.NumResiduals(), total_residuals);
+}
+
+class DestructorCountingCostFunction : public SizedCostFunction<3, 4, 5> {
+ public:
+ explicit DestructorCountingCostFunction(int *counter)
+ : counter_(counter) {}
+
+ virtual ~DestructorCountingCostFunction() {
+ *counter_ += 1;
+ }
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ return true;
+ }
+
+ private:
+ int* counter_;
+};
+
+TEST(Problem, ReusedCostFunctionsAreOnlyDeletedOnce) {
+ double y[4], z[5];
+ int counter = 0;
+
+ // Add a cost function multiple times and check to make sure that
+ // the destructor on the cost function is only called once.
+ {
+ Problem problem;
+ problem.AddParameterBlock(y, 4);
+ problem.AddParameterBlock(z, 5);
+
+ CostFunction* cost = new DestructorCountingCostFunction(&counter);
+ problem.AddResidualBlock(cost, NULL, y, z);
+ problem.AddResidualBlock(cost, NULL, y, z);
+ problem.AddResidualBlock(cost, NULL, y, z);
+ }
+
+ // Check that the destructor was called only once.
+ CHECK_EQ(counter, 1);
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/program.cc b/internal/ceres/program.cc
new file mode 100644
index 0000000..82d76d3
--- /dev/null
+++ b/internal/ceres/program.cc
@@ -0,0 +1,232 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "ceres/program.h"
+
+#include <map>
+#include <vector>
+#include "ceres/casts.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/cost_function.h"
+#include "ceres/evaluator.h"
+#include "ceres/internal/port.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/loss_function.h"
+#include "ceres/map_util.h"
+#include "ceres/parameter_block.h"
+#include "ceres/problem.h"
+#include "ceres/residual_block.h"
+#include "ceres/stl_util.h"
+
+namespace ceres {
+namespace internal {
+
+Program::Program() {}
+
+Program::Program(const Program& program)
+ : parameter_blocks_(program.parameter_blocks_),
+ residual_blocks_(program.residual_blocks_) {
+}
+
+const vector<ParameterBlock*>& Program::parameter_blocks() const {
+ return parameter_blocks_;
+}
+
+const vector<ResidualBlock*>& Program::residual_blocks() const {
+ return residual_blocks_;
+}
+
+vector<ParameterBlock*>* Program::mutable_parameter_blocks() {
+ return ¶meter_blocks_;
+}
+
+vector<ResidualBlock*>* Program::mutable_residual_blocks() {
+ return &residual_blocks_;
+}
+
+bool Program::StateVectorToParameterBlocks(const double *state) {
+ for (int i = 0; i < parameter_blocks_.size(); ++i) {
+ if (!parameter_blocks_[i]->IsConstant() &&
+ !parameter_blocks_[i]->SetState(state)) {
+ return false;
+ }
+ state += parameter_blocks_[i]->Size();
+ }
+ return true;
+}
+
+void Program::ParameterBlocksToStateVector(double *state) const {
+ for (int i = 0; i < parameter_blocks_.size(); ++i) {
+ parameter_blocks_[i]->GetState(state);
+ state += parameter_blocks_[i]->Size();
+ }
+}
+
+void Program::CopyParameterBlockStateToUserState() {
+ for (int i = 0; i < parameter_blocks_.size(); ++i) {
+ parameter_blocks_[i]->GetState(parameter_blocks_[i]->mutable_user_state());
+ }
+}
+
+bool Program::SetParameterBlockStatePtrsToUserStatePtrs() {
+ for (int i = 0; i < parameter_blocks_.size(); ++i) {
+ if (!parameter_blocks_[i]->IsConstant() &&
+ !parameter_blocks_[i]->SetState(parameter_blocks_[i]->user_state())) {
+ return false;
+ }
+ }
+ return true;
+}
+
+bool Program::Plus(const double* state,
+ const double* delta,
+ double* state_plus_delta) const {
+ for (int i = 0; i < parameter_blocks_.size(); ++i) {
+ if (!parameter_blocks_[i]->Plus(state, delta, state_plus_delta)) {
+ return false;
+ }
+ state += parameter_blocks_[i]->Size();
+ delta += parameter_blocks_[i]->LocalSize();
+ state_plus_delta += parameter_blocks_[i]->Size();
+ }
+ return true;
+}
+
+void Program::SetParameterOffsetsAndIndex() {
+ // Set positions for all parameters appearing as arguments to residuals to one
+ // past the end of the parameter block array.
+ for (int i = 0; i < residual_blocks_.size(); ++i) {
+ ResidualBlock* residual_block = residual_blocks_[i];
+ for (int j = 0; j < residual_block->NumParameterBlocks(); ++j) {
+ residual_block->parameter_blocks()[j]->set_index(-1);
+ }
+ }
+ // For parameters that appear in the program, set their position and offset.
+ int state_offset = 0;
+ int delta_offset = 0;
+ for (int i = 0; i < parameter_blocks_.size(); ++i) {
+ parameter_blocks_[i]->set_index(i);
+ parameter_blocks_[i]->set_state_offset(state_offset);
+ parameter_blocks_[i]->set_delta_offset(delta_offset);
+ state_offset += parameter_blocks_[i]->Size();
+ delta_offset += parameter_blocks_[i]->LocalSize();
+ }
+}
+
+int Program::NumResidualBlocks() const {
+ return residual_blocks_.size();
+}
+
+int Program::NumParameterBlocks() const {
+ return parameter_blocks_.size();
+}
+
+int Program::NumResiduals() const {
+ int num_residuals = 0;
+ for (int i = 0; i < residual_blocks_.size(); ++i) {
+ num_residuals += residual_blocks_[i]->NumResiduals();
+ }
+ return num_residuals;
+}
+
+int Program::NumParameters() const {
+ int num_parameters = 0;
+ for (int i = 0; i < parameter_blocks_.size(); ++i) {
+ num_parameters += parameter_blocks_[i]->Size();
+ }
+ return num_parameters;
+}
+
+int Program::NumEffectiveParameters() const {
+ int num_parameters = 0;
+ for (int i = 0; i < parameter_blocks_.size(); ++i) {
+ num_parameters += parameter_blocks_[i]->LocalSize();
+ }
+ return num_parameters;
+}
+
+int Program::MaxScratchDoublesNeededForEvaluate() const {
+ // Compute the scratch space needed for evaluate.
+ int max_scratch_bytes_for_evaluate = 0;
+ for (int i = 0; i < residual_blocks_.size(); ++i) {
+ max_scratch_bytes_for_evaluate =
+ max(max_scratch_bytes_for_evaluate,
+ residual_blocks_[i]->NumScratchDoublesForEvaluate());
+ }
+ return max_scratch_bytes_for_evaluate;
+}
+
+int Program::MaxDerivativesPerResidualBlock() const {
+ int max_derivatives = 0;
+ for (int i = 0; i < residual_blocks_.size(); ++i) {
+ int derivatives = 0;
+ ResidualBlock* residual_block = residual_blocks_[i];
+ int num_parameters = residual_block->NumParameterBlocks();
+ for (int j = 0; j < num_parameters; ++j) {
+ derivatives += residual_block->NumResiduals() *
+ residual_block->parameter_blocks()[j]->LocalSize();
+ }
+ max_derivatives = max(max_derivatives, derivatives);
+ }
+ return max_derivatives;
+}
+
+int Program::MaxParametersPerResidualBlock() const {
+ int max_parameters = 0;
+ for (int i = 0; i < residual_blocks_.size(); ++i) {
+ max_parameters = max(max_parameters,
+ residual_blocks_[i]->NumParameterBlocks());
+ }
+ return max_parameters;
+}
+
+int Program::MaxResidualsPerResidualBlock() const {
+ int max_residuals = 0;
+ for (int i = 0; i < residual_blocks_.size(); ++i) {
+ max_residuals = max(max_residuals,
+ residual_blocks_[i]->NumResiduals());
+ }
+ return max_residuals;
+}
+
+string Program::ToString() const {
+ string ret = "Program dump\n";
+ ret += StringPrintf("Number of parameter blocks: %d\n", NumParameterBlocks());
+ ret += StringPrintf("Number of parameters: %d\n", NumParameters());
+ ret += "Parameters:\n";
+ for (int i = 0; i < parameter_blocks_.size(); ++i) {
+ ret += StringPrintf("%d: %s\n",
+ i, parameter_blocks_[i]->ToString().c_str());
+ }
+ return ret;
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/program.h b/internal/ceres/program.h
new file mode 100644
index 0000000..5002b7e
--- /dev/null
+++ b/internal/ceres/program.h
@@ -0,0 +1,129 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#ifndef CERES_INTERNAL_PROGRAM_H_
+#define CERES_INTERNAL_PROGRAM_H_
+
+#include <string>
+#include <vector>
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+class ParameterBlock;
+class ProblemImpl;
+class ResidualBlock;
+
+// A nonlinear least squares optimization problem. This is different from the
+// similarly-named "Problem" object, which offers a mutation interface for
+// adding and modifying parameters and residuals. The Program contains the core
+// part of the Problem, which is the parameters and the residuals, stored in a
+// particular ordering. The ordering is critical, since it defines the mapping
+// between (residual, parameter) pairs and a position in the jacobian of the
+// objective function. Various parts of Ceres transform one Program into
+// another; for example, the first stage of solving involves stripping all
+// constant parameters and residuals. This is in contrast with Problem, which is
+// not built for transformation.
+class Program {
+ public:
+ Program();
+ explicit Program(const Program& program);
+
+ // The ordered parameter and residual blocks for the program.
+ const vector<ParameterBlock*>& parameter_blocks() const;
+ const vector<ResidualBlock*>& residual_blocks() const;
+ vector<ParameterBlock*>* mutable_parameter_blocks();
+ vector<ResidualBlock*>* mutable_residual_blocks();
+
+ // Serialize to/from the program and update states.
+ //
+ // NOTE: Setting the state of a parameter block can trigger the
+ // computation of the Jacobian of its local parameterization. If
+ // this computation fails for some reason, then this method returns
+ // false and the state of the parameter blocks cannot be trusted.
+ bool StateVectorToParameterBlocks(const double *state);
+ void ParameterBlocksToStateVector(double *state) const;
+
+ // Copy internal state to the user's parameters.
+ void CopyParameterBlockStateToUserState();
+
+ // Set the parameter block pointers to the user pointers. Since this
+ // runs parameter block set state internally, which may call local
+ // parameterizations, this can fail. False is returned on failure.
+ bool SetParameterBlockStatePtrsToUserStatePtrs();
+
+ // Update a state vector for the program given a delta.
+ bool Plus(const double* state,
+ const double* delta,
+ double* state_plus_delta) const;
+
+ // Set the parameter indices and offsets. This permits mapping backward
+ // from a ParameterBlock* to an index in the parameter_blocks() vector. For
+ // any parameter block p, after calling SetParameterOffsetsAndIndex(), it
+ // is true that
+ //
+ // parameter_blocks()[p->index()] == p
+ //
+ // If a parameter appears in a residual but not in the parameter block, then
+ // it will have an index of -1.
+ //
+ // This also updates p->state_offset() and p->delta_offset(), which are the
+ // position of the parameter in the state and delta vector respectively.
+ void SetParameterOffsetsAndIndex();
+
+ // See problem.h for what these do.
+ int NumParameterBlocks() const;
+ int NumParameters() const;
+ int NumEffectiveParameters() const;
+ int NumResidualBlocks() const;
+ int NumResiduals() const;
+
+ int MaxScratchDoublesNeededForEvaluate() const;
+ int MaxDerivativesPerResidualBlock() const;
+ int MaxParametersPerResidualBlock() const;
+ int MaxResidualsPerResidualBlock() const;
+
+ // A human-readable dump of the parameter blocks for debugging.
+ // TODO(keir): If necessary, also dump the residual blocks.
+ string ToString() const;
+
+ private:
+ // The Program does not own the ParameterBlock or ResidualBlock objects.
+ vector<ParameterBlock*> parameter_blocks_;
+ vector<ResidualBlock*> residual_blocks_;
+
+ friend class ProblemImpl;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_PROGRAM_H_
diff --git a/internal/ceres/program_evaluator.h b/internal/ceres/program_evaluator.h
new file mode 100644
index 0000000..1fb44e1
--- /dev/null
+++ b/internal/ceres/program_evaluator.h
@@ -0,0 +1,335 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// The ProgramEvaluator runs the cost functions contained in each residual block
+// and stores the result into a jacobian. The particular type of jacobian is
+// abstracted out using two template parameters:
+//
+// - An "EvaluatePreparer" that is responsible for creating the array with
+// pointers to the jacobian blocks where the cost function evaluates to.
+// - A "JacobianWriter" that is responsible for storing the resulting
+// jacobian blocks in the passed sparse matrix.
+//
+// This abstraction affords an efficient evaluator implementation while still
+// supporting writing to multiple sparse matrix formats. For example, when the
+// ProgramEvaluator is parameterized for writing to block sparse matrices, the
+// residual jacobians are written directly into their final position in the
+// block sparse matrix by the user's CostFunction; there is no copying.
+//
+// The evaluation is threaded with OpenMP.
+//
+// The EvaluatePreparer and JacobianWriter interfaces are as follows:
+//
+// class EvaluatePreparer {
+// // Prepare the jacobians array for use as the destination of a call to
+// // a cost function's evaluate method.
+// void Prepare(const ResidualBlock* residual_block,
+// int residual_block_index,
+// SparseMatrix* jacobian,
+// double** jacobians);
+// }
+//
+// class JacobianWriter {
+// // Create a jacobian that this writer can write. Same as
+// // Evaluator::CreateJacobian.
+// SparseMatrix* CreateJacobian() const;
+//
+// // Create num_threads evaluate preparers. Caller owns result which must
+// // be freed with delete[]. Resulting preparers are valid while *this is.
+// EvaluatePreparer* CreateEvaluatePreparers(int num_threads);
+//
+// // Write the block jacobians from a residual block evaluation to the
+// // larger sparse jacobian.
+// void Write(int residual_id,
+// int residual_offset,
+// double** jacobians,
+// SparseMatrix* jacobian);
+// }
+//
+// Note: The ProgramEvaluator is not thread safe, since internally it maintains
+// some per-thread scratch space.
+
+#ifndef CERES_INTERNAL_PROGRAM_EVALUATOR_H_
+#define CERES_INTERNAL_PROGRAM_EVALUATOR_H_
+
+#ifdef CERES_USE_OPENMP
+#include <omp.h>
+#endif
+
+#include "ceres/parameter_block.h"
+#include "ceres/program.h"
+#include "ceres/residual_block.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+template<typename EvaluatePreparer, typename JacobianWriter>
+class ProgramEvaluator : public Evaluator {
+ public:
+ ProgramEvaluator(const Evaluator::Options &options, Program* program)
+ : options_(options),
+ program_(program),
+ jacobian_writer_(options, program),
+ evaluate_preparers_(
+ jacobian_writer_.CreateEvaluatePreparers(options.num_threads)) {
+#ifndef CERES_USE_OPENMP
+ CHECK_EQ(1, options_.num_threads)
+ << "OpenMP support is not compiled into this binary; "
+ << "only options.num_threads=1 is supported.";
+#endif
+
+ BuildResidualLayout(*program, &residual_layout_);
+ evaluate_scratch_.reset(CreateEvaluatorScratch(*program,
+ options.num_threads));
+ }
+
+ // Implementation of Evaluator interface.
+ SparseMatrix* CreateJacobian() const {
+ return jacobian_writer_.CreateJacobian();
+ }
+
+ bool Evaluate(const double* state,
+ double* cost,
+ double* residuals,
+ double* gradient,
+ SparseMatrix* jacobian) {
+ // The parameters are stateful, so set the state before evaluating.
+ if (!program_->StateVectorToParameterBlocks(state)) {
+ return false;
+ }
+
+ if (residuals != NULL) {
+ VectorRef(residuals, program_->NumResiduals()).setZero();
+ }
+
+ if (jacobian != NULL) {
+ jacobian->SetZero();
+ }
+
+ // Each thread gets it's own cost and evaluate scratch space.
+ for (int i = 0; i < options_.num_threads; ++i) {
+ evaluate_scratch_[i].cost = 0.0;
+ }
+
+ // This bool is used to disable the loop if an error is encountered
+ // without breaking out of it. The remaining loop iterations are still run,
+ // but with an empty body, and so will finish quickly.
+ bool abort = false;
+ int num_residual_blocks = program_->NumResidualBlocks();
+#pragma omp parallel for num_threads(options_.num_threads)
+ for (int i = 0; i < num_residual_blocks; ++i) {
+// Disable the loop instead of breaking, as required by OpenMP.
+#pragma omp flush(abort)
+ if (abort) {
+ continue;
+ }
+
+#ifdef CERES_USE_OPENMP
+ int thread_id = omp_get_thread_num();
+#else
+ int thread_id = 0;
+#endif
+ EvaluatePreparer* preparer = &evaluate_preparers_[thread_id];
+ EvaluateScratch* scratch = &evaluate_scratch_[thread_id];
+
+ // Prepare block residuals if requested.
+ const ResidualBlock* residual_block = program_->residual_blocks()[i];
+ double* block_residuals = NULL;
+ if (residuals != NULL) {
+ block_residuals = residuals + residual_layout_[i];
+ } else if (gradient != NULL) {
+ block_residuals = scratch->residual_block_residuals.get();
+ }
+
+ // Prepare block jacobians if requested.
+ double** block_jacobians = NULL;
+ if (jacobian != NULL || gradient != NULL) {
+ preparer->Prepare(residual_block,
+ i,
+ jacobian,
+ scratch->jacobian_block_ptrs.get());
+ block_jacobians = scratch->jacobian_block_ptrs.get();
+ }
+
+ // Evaluate the cost, residuals, and jacobians.
+ double block_cost;
+ if (!residual_block->Evaluate(
+ &block_cost,
+ block_residuals,
+ block_jacobians,
+ scratch->residual_block_evaluate_scratch.get())) {
+ abort = true;
+// This ensures that the OpenMP threads have a consistent view of 'abort'. Do
+// the flush inside the failure case so that there is usually only one
+// synchronization point per loop iteration instead of two.
+#pragma omp flush(abort)
+ continue;
+ }
+
+ scratch->cost += block_cost;
+
+ // Store the jacobians, if they were requested.
+ if (jacobian != NULL) {
+ jacobian_writer_.Write(i,
+ residual_layout_[i],
+ block_jacobians,
+ jacobian);
+ }
+
+ // Compute and store the gradient, if it was requested.
+ if (gradient != NULL) {
+ int num_residuals = residual_block->NumResiduals();
+ int num_parameter_blocks = residual_block->NumParameterBlocks();
+ for (int j = 0; j < num_parameter_blocks; ++j) {
+ const ParameterBlock* parameter_block =
+ residual_block->parameter_blocks()[j];
+ if (parameter_block->IsConstant()) {
+ continue;
+ }
+ MatrixRef block_jacobian(block_jacobians[j],
+ num_residuals,
+ parameter_block->LocalSize());
+ VectorRef block_gradient(scratch->gradient.get() +
+ parameter_block->delta_offset(),
+ parameter_block->LocalSize());
+ VectorRef block_residual(block_residuals, num_residuals);
+ block_gradient += block_residual.transpose() * block_jacobian;
+ }
+ }
+ }
+
+ if (!abort) {
+ // Sum the cost and gradient (if requested) from each thread.
+ (*cost) = 0.0;
+ int num_parameters = program_->NumEffectiveParameters();
+ if (gradient != NULL) {
+ VectorRef(gradient, num_parameters).setZero();
+ }
+ for (int i = 0; i < options_.num_threads; ++i) {
+ (*cost) += evaluate_scratch_[i].cost;
+ if (gradient != NULL) {
+ VectorRef(gradient, num_parameters) +=
+ VectorRef(evaluate_scratch_[i].gradient.get(), num_parameters);
+ }
+ }
+ }
+ return !abort;
+ }
+
+ bool Plus(const double* state,
+ const double* delta,
+ double* state_plus_delta) const {
+ return program_->Plus(state, delta, state_plus_delta);
+ }
+
+ int NumParameters() const {
+ return program_->NumParameters();
+ }
+ int NumEffectiveParameters() const {
+ return program_->NumEffectiveParameters();
+ }
+
+ int NumResiduals() const {
+ return program_->NumResiduals();
+ }
+
+ private:
+ // Per-thread scratch space needed to evaluate and store each residual block.
+ struct EvaluateScratch {
+ void Init(int max_parameters_per_residual_block,
+ int max_scratch_doubles_needed_for_evaluate,
+ int max_residuals_per_residual_block,
+ int num_parameters) {
+ residual_block_evaluate_scratch.reset(
+ new double[max_scratch_doubles_needed_for_evaluate]);
+ gradient.reset(new double[num_parameters]);
+ VectorRef(gradient.get(), num_parameters).setZero();
+ residual_block_residuals.reset(
+ new double[max_residuals_per_residual_block]);
+ jacobian_block_ptrs.reset(
+ new double*[max_parameters_per_residual_block]);
+ }
+
+ double cost;
+ scoped_array<double> residual_block_evaluate_scratch;
+ // The gradient in the local parameterization.
+ scoped_array<double> gradient;
+ // Enough space to store the residual for the largest residual block.
+ scoped_array<double> residual_block_residuals;
+ scoped_array<double*> jacobian_block_ptrs;
+ };
+
+ static void BuildResidualLayout(const Program& program,
+ vector<int>* residual_layout) {
+ const vector<ResidualBlock*>& residual_blocks = program.residual_blocks();
+ residual_layout->resize(program.NumResidualBlocks());
+ int residual_pos = 0;
+ for (int i = 0; i < residual_blocks.size(); ++i) {
+ const int num_residuals = residual_blocks[i]->NumResiduals();
+ (*residual_layout)[i] = residual_pos;
+ residual_pos += num_residuals;
+ }
+ }
+
+ // Create scratch space for each thread evaluating the program.
+ static EvaluateScratch* CreateEvaluatorScratch(const Program& program,
+ int num_threads) {
+ int max_parameters_per_residual_block =
+ program.MaxParametersPerResidualBlock();
+ int max_scratch_doubles_needed_for_evaluate =
+ program.MaxScratchDoublesNeededForEvaluate();
+ int max_residuals_per_residual_block =
+ program.MaxResidualsPerResidualBlock();
+ int num_parameters = program.NumEffectiveParameters();
+
+ EvaluateScratch* evaluate_scratch = new EvaluateScratch[num_threads];
+ for (int i = 0; i < num_threads; i++) {
+ evaluate_scratch[i].Init(max_parameters_per_residual_block,
+ max_scratch_doubles_needed_for_evaluate,
+ max_residuals_per_residual_block,
+ num_parameters);
+ }
+ return evaluate_scratch;
+ }
+
+ Evaluator::Options options_;
+ Program* program_;
+ JacobianWriter jacobian_writer_;
+ scoped_array<EvaluatePreparer> evaluate_preparers_;
+ scoped_array<EvaluateScratch> evaluate_scratch_;
+ vector<int> residual_layout_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_PROGRAM_EVALUATOR_H_
diff --git a/internal/ceres/random.h b/internal/ceres/random.h
new file mode 100644
index 0000000..352c003
--- /dev/null
+++ b/internal/ceres/random.h
@@ -0,0 +1,70 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+// sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_RANDOM_H_
+#define CERES_INTERNAL_RANDOM_H_
+
+#include <cmath>
+#include <cstdlib>
+#include "ceres/internal/port.h"
+
+namespace ceres {
+
+inline void SetRandomState(int state) {
+ srand(state);
+}
+
+inline int Uniform(int n) {
+ return rand() % n;
+}
+
+inline double RandDouble() {
+ double r = static_cast<double>(rand());
+ return r / RAND_MAX;
+}
+
+// Box-Muller algorithm for normal random number generation.
+// http://en.wikipedia.org/wiki/Box-Muller_transform
+inline double RandNormal() {
+ double x1, x2, w;
+ do {
+ x1 = 2.0 * RandDouble() - 1.0;
+ x2 = 2.0 * RandDouble() - 1.0;
+ w = x1 * x1 + x2 * x2;
+ } while ( w >= 1.0 || w == 0.0 );
+
+ w = sqrt((-2.0 * log(w)) / w);
+ return x1 * w;
+}
+
+} // namespace ceres
+
+#endif // CERES_INTERNAL_RANDOM_H_
diff --git a/internal/ceres/residual_block.cc b/internal/ceres/residual_block.cc
new file mode 100644
index 0000000..bdb88b1
--- /dev/null
+++ b/internal/ceres/residual_block.cc
@@ -0,0 +1,215 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+// sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/residual_block.h"
+
+#include <algorithm>
+#include <cstddef>
+#include <vector>
+
+#include "ceres/corrector.h"
+#include "ceres/parameter_block.h"
+#include "ceres/residual_block_utils.h"
+#include "ceres/cost_function.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/fixed_array.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/loss_function.h"
+
+namespace ceres {
+namespace internal {
+
+ResidualBlock::ResidualBlock(const CostFunction* cost_function,
+ const LossFunction* loss_function,
+ const vector<ParameterBlock*>& parameter_blocks)
+ : cost_function_(cost_function),
+ loss_function_(loss_function),
+ parameter_blocks_(
+ new ParameterBlock* [
+ cost_function->parameter_block_sizes().size()]) {
+ std::copy(parameter_blocks.begin(),
+ parameter_blocks.end(),
+ parameter_blocks_.get());
+}
+
+bool ResidualBlock::Evaluate(double* cost,
+ double* residuals,
+ double** jacobians,
+ double* scratch) const {
+ const int num_parameter_blocks = NumParameterBlocks();
+ const int num_residuals = cost_function_->num_residuals();
+
+ // Collect the parameters from their blocks. This will rarely allocate, since
+ // residuals taking more than 8 parameter block arguments are rare.
+ FixedArray<const double*, 8> parameters(num_parameter_blocks);
+ for (int i = 0; i < num_parameter_blocks; ++i) {
+ parameters[i] = parameter_blocks_[i]->state();
+ }
+
+ // Put pointers into the scratch space into global_jacobians as appropriate.
+ FixedArray<double*, 8> global_jacobians(num_parameter_blocks);
+ if (jacobians != NULL) {
+ for (int i = 0; i < num_parameter_blocks; ++i) {
+ const ParameterBlock* parameter_block = parameter_blocks_[i];
+ if (jacobians[i] != NULL &&
+ parameter_block->LocalParameterizationJacobian() != NULL) {
+ global_jacobians[i] = scratch;
+ scratch += num_residuals * parameter_block->Size();
+ } else {
+ global_jacobians[i] = jacobians[i];
+ }
+ }
+ }
+
+ // If the caller didn't request residuals, use the scratch space for them.
+ bool outputting_residuals = (residuals != NULL);
+ if (!outputting_residuals) {
+ residuals = scratch;
+ }
+
+ // Invalidate the evaluation buffers so that we can check them after
+ // the CostFunction::Evaluate call, to see if all the return values
+ // that were required were written to and that they are finite.
+ double** eval_jacobians = (jacobians != NULL) ? global_jacobians.get() : NULL;
+
+ InvalidateEvaluation(*this, cost, residuals, eval_jacobians);
+
+ if (!cost_function_->Evaluate(parameters.get(), residuals, eval_jacobians)) {
+ return false;
+ }
+
+ if (!IsEvaluationValid(*this,
+ parameters.get(),
+ cost,
+ residuals,
+ eval_jacobians)) {
+ string message =
+ "\n\n"
+ "Error in evaluating the ResidualBlock.\n\n"
+ "There are two possible reasons. Either the CostFunction did not evaluate and fill all \n" // NOLINT
+ "residual and jacobians that were requested or there was a non-finite value (nan/infinite)\n" // NOLINT
+ "generated during the or jacobian computation. \n\n" +
+ EvaluationToString(*this,
+ parameters.get(),
+ cost,
+ residuals,
+ eval_jacobians);
+ LOG(WARNING) << message;
+ return false;
+ }
+
+ double squared_norm = VectorRef(residuals, num_residuals).squaredNorm();
+
+ // Update the jacobians with the local parameterizations.
+ if (jacobians != NULL) {
+ for (int i = 0; i < num_parameter_blocks; ++i) {
+ if (jacobians[i] != NULL) {
+ const ParameterBlock* parameter_block = parameter_blocks_[i];
+
+ // Apply local reparameterization to the jacobians.
+ if (parameter_block->LocalParameterizationJacobian() != NULL) {
+ ConstMatrixRef local_to_global(
+ parameter_block->LocalParameterizationJacobian(),
+ parameter_block->Size(),
+ parameter_block->LocalSize());
+ MatrixRef global_jacobian(global_jacobians[i],
+ num_residuals,
+ parameter_block->Size());
+ MatrixRef local_jacobian(jacobians[i],
+ num_residuals,
+ parameter_block->LocalSize());
+ local_jacobian.noalias() = global_jacobian * local_to_global;
+ }
+ }
+ }
+ }
+
+ if (loss_function_ == NULL) {
+ *cost = 0.5 * squared_norm;
+ return true;
+ }
+
+ double rho[3];
+ loss_function_->Evaluate(squared_norm, rho);
+ *cost = 0.5 * rho[0];
+
+ // No jacobians and not outputting residuals? All done. Doing an early exit
+ // here avoids constructing the "Corrector" object below in a common case.
+ if (jacobians == NULL && !outputting_residuals) {
+ return true;
+ }
+
+ // Correct for the effects of the loss function. The jacobians need to be
+ // corrected before the residuals, since they use the uncorrected residuals.
+ Corrector correct(squared_norm, rho);
+ if (jacobians != NULL) {
+ for (int i = 0; i < num_parameter_blocks; ++i) {
+ if (jacobians[i] != NULL) {
+ const ParameterBlock* parameter_block = parameter_blocks_[i];
+
+ // Correct the jacobians for the loss function.
+ correct.CorrectJacobian(num_residuals,
+ parameter_block->LocalSize(),
+ residuals,
+ jacobians[i]);
+ }
+ }
+ }
+
+ // Correct the residuals with the loss function.
+ if (outputting_residuals) {
+ correct.CorrectResiduals(num_residuals, residuals);
+ }
+ return true;
+}
+
+int ResidualBlock::NumScratchDoublesForEvaluate() const {
+ // Compute the amount of scratch space needed to store the full-sized
+ // jacobians. For parameters that have no local parameterization no storage
+ // is needed and the passed-in jacobian array is used directly. Also include
+ // space to store the residuals, which is needed for cost-only evaluations.
+ // This is slightly pessimistic, since both won't be needed all the time, but
+ // the amount of excess should not cause problems for the caller.
+ int num_parameters = NumParameterBlocks();
+ int scratch_doubles = 1;
+ for (int i = 0; i < num_parameters; ++i) {
+ const ParameterBlock* parameter_block = parameter_blocks_[i];
+ if (!parameter_block->IsConstant() &&
+ parameter_block->LocalParameterizationJacobian() != NULL) {
+ scratch_doubles += parameter_block->Size();
+ }
+ }
+ scratch_doubles *= NumResiduals();
+ return scratch_doubles;
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/residual_block.h b/internal/ceres/residual_block.h
new file mode 100644
index 0000000..e0a06e7
--- /dev/null
+++ b/internal/ceres/residual_block.h
@@ -0,0 +1,124 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+// keir@google.com (Keir Mierle)
+//
+// Purpose : Class and struct definitions for parameter and residual blocks.
+
+#ifndef CERES_INTERNAL_RESIDUAL_BLOCK_H_
+#define CERES_INTERNAL_RESIDUAL_BLOCK_H_
+
+#include <vector>
+
+#include "ceres/cost_function.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+
+namespace ceres {
+
+class LossFunction;
+
+namespace internal {
+
+class ParameterBlock;
+
+// A term in the least squares problem. The mathematical form of each term in
+// the overall least-squares cost function is:
+//
+// 1
+// --- loss_function( || cost_function(block1, block2, ...) ||^2 ),
+// 2
+//
+// Storing the cost function and the loss function separately permits optimizing
+// the problem with standard non-linear least techniques, without requiring a
+// more general non-linear solver.
+//
+// The residual block stores pointers to but does not own the cost functions,
+// loss functions, and parameter blocks.
+class ResidualBlock {
+ public:
+ ResidualBlock(const CostFunction* cost_function,
+ const LossFunction* loss_function,
+ const vector<ParameterBlock*>& parameter_blocks);
+
+ // Evaluates the residual term, storing the scalar cost in *cost, the residual
+ // components in *residuals, and the jacobians between the parameters and
+ // residuals in jacobians[i], in row-major order. If residuals is NULL, the
+ // residuals are not computed. If jacobians is NULL, no jacobians are
+ // computed. If jacobians[i] is NULL, then the jacobian for that parameter is
+ // not computed.
+ //
+ // Evaluate needs scratch space which must be supplied by the caller via
+ // scratch. The array should have at least NumScratchDoublesForEvaluate()
+ // space available.
+ //
+ // The return value indicates the success or failure. If the function returns
+ // false, the caller should expect the the output memory locations to have
+ // been modified.
+ //
+ // The returned cost and jacobians have had robustification and local
+ // parameterizations applied already; for example, the jacobian for a
+ // 4-dimensional quaternion parameter using the "QuaternionParameterization"
+ // is num_residuals by 3 instead of num_residuals by 4.
+ bool Evaluate(double* cost,
+ double* residuals,
+ double** jacobians,
+ double* scratch) const;
+
+ const CostFunction* cost_function() const { return cost_function_; }
+ const LossFunction* loss_function() const { return loss_function_; }
+
+ // Access the parameter blocks for this residual. The array has size
+ // NumParameterBlocks().
+ ParameterBlock* const* parameter_blocks() const {
+ return parameter_blocks_.get();
+ }
+
+ // Number of variable blocks that this residual term depends on.
+ int NumParameterBlocks() const {
+ return cost_function_->parameter_block_sizes().size();
+ }
+
+ // The size of the residual vector returned by this residual function.
+ int NumResiduals() const { return cost_function_->num_residuals(); }
+
+ // The minimum amount of scratch space needed to pass to Evaluate().
+ int NumScratchDoublesForEvaluate() const;
+
+ private:
+ const CostFunction* cost_function_;
+ const LossFunction* loss_function_;
+ scoped_array<ParameterBlock*> parameter_blocks_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_RESIDUAL_BLOCK_H_
diff --git a/internal/ceres/residual_block_test.cc b/internal/ceres/residual_block_test.cc
new file mode 100644
index 0000000..92b79f6
--- /dev/null
+++ b/internal/ceres/residual_block_test.cc
@@ -0,0 +1,326 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "ceres/residual_block.h"
+
+#include "gtest/gtest.h"
+#include "ceres/parameter_block.h"
+#include "ceres/sized_cost_function.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/local_parameterization.h"
+
+namespace ceres {
+namespace internal {
+
+// Trivial cost function that accepts three arguments.
+class TernaryCostFunction: public CostFunction {
+ public:
+ TernaryCostFunction(int num_residuals,
+ int16 parameter_block1_size,
+ int16 parameter_block2_size,
+ int16 parameter_block3_size) {
+ set_num_residuals(num_residuals);
+ mutable_parameter_block_sizes()->push_back(parameter_block1_size);
+ mutable_parameter_block_sizes()->push_back(parameter_block2_size);
+ mutable_parameter_block_sizes()->push_back(parameter_block3_size);
+ }
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ for (int i = 0; i < num_residuals(); ++i) {
+ residuals[i] = i;
+ }
+ if (jacobians) {
+ for (int k = 0; k < 3; ++k) {
+ if (jacobians[k] != NULL) {
+ MatrixRef jacobian(jacobians[k],
+ num_residuals(),
+ parameter_block_sizes()[k]);
+ jacobian.setConstant(k);
+ }
+ }
+ }
+ return true;
+ }
+};
+
+TEST(ResidualBlock, EvaluteWithNoLossFunctionOrLocalParameterizations) {
+ double scratch[64];
+
+ // Prepare the parameter blocks.
+ double values_x[2];
+ ParameterBlock x(values_x, 2);
+
+ double values_y[3];
+ ParameterBlock y(values_y, 3);
+
+ double values_z[4];
+ ParameterBlock z(values_z, 4);
+
+ vector<ParameterBlock*> parameters;
+ parameters.push_back(&x);
+ parameters.push_back(&y);
+ parameters.push_back(&z);
+
+ TernaryCostFunction cost_function(3, 2, 3, 4);
+
+ // Create the object under tests.
+ ResidualBlock residual_block(&cost_function, NULL, parameters);
+
+ // Verify getters.
+ EXPECT_EQ(&cost_function, residual_block.cost_function());
+ EXPECT_EQ(NULL, residual_block.loss_function());
+ EXPECT_EQ(parameters[0], residual_block.parameter_blocks()[0]);
+ EXPECT_EQ(parameters[1], residual_block.parameter_blocks()[1]);
+ EXPECT_EQ(parameters[2], residual_block.parameter_blocks()[2]);
+ EXPECT_EQ(3, residual_block.NumScratchDoublesForEvaluate());
+
+ // Verify cost-only evaluation.
+ double cost;
+ residual_block.Evaluate(&cost, NULL, NULL, scratch);
+ EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
+
+ // Verify cost and residual evaluation.
+ double residuals[3];
+ residual_block.Evaluate(&cost, residuals, NULL, scratch);
+ EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
+ EXPECT_EQ(0.0, residuals[0]);
+ EXPECT_EQ(1.0, residuals[1]);
+ EXPECT_EQ(2.0, residuals[2]);
+
+ // Verify cost, residual, and jacobian evaluation.
+ cost = 0.0;
+ VectorRef(residuals, 3).setConstant(0.0);
+
+ Matrix jacobian_rx(3, 2);
+ Matrix jacobian_ry(3, 3);
+ Matrix jacobian_rz(3, 4);
+
+ jacobian_rx.setConstant(-1.0);
+ jacobian_ry.setConstant(-1.0);
+ jacobian_rz.setConstant(-1.0);
+
+ double *jacobian_ptrs[3] = {
+ jacobian_rx.data(),
+ jacobian_ry.data(),
+ jacobian_rz.data()
+ };
+
+ residual_block.Evaluate(&cost, residuals, jacobian_ptrs, scratch);
+ EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
+ EXPECT_EQ(0.0, residuals[0]);
+ EXPECT_EQ(1.0, residuals[1]);
+ EXPECT_EQ(2.0, residuals[2]);
+
+ EXPECT_TRUE((jacobian_rx.array() == 0.0).all()) << "\n" << jacobian_rx;
+ EXPECT_TRUE((jacobian_ry.array() == 1.0).all()) << "\n" << jacobian_ry;
+ EXPECT_TRUE((jacobian_rz.array() == 2.0).all()) << "\n" << jacobian_rz;
+
+ // Verify cost, residual, and partial jacobian evaluation.
+ cost = 0.0;
+ VectorRef(residuals, 3).setConstant(0.0);
+ jacobian_rx.setConstant(-1.0);
+ jacobian_ry.setConstant(-1.0);
+ jacobian_rz.setConstant(-1.0);
+
+ jacobian_ptrs[1] = NULL; // Don't compute the jacobian for y.
+
+ residual_block.Evaluate(&cost, residuals, jacobian_ptrs, scratch);
+ EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
+ EXPECT_EQ(0.0, residuals[0]);
+ EXPECT_EQ(1.0, residuals[1]);
+ EXPECT_EQ(2.0, residuals[2]);
+
+ EXPECT_TRUE((jacobian_rx.array() == 0.0).all()) << "\n" << jacobian_rx;
+ EXPECT_TRUE((jacobian_ry.array() == -1.0).all()) << "\n" << jacobian_ry;
+ EXPECT_TRUE((jacobian_rz.array() == 2.0).all()) << "\n" << jacobian_rz;
+}
+
+// Trivial cost function that accepts three arguments.
+class LocallyParameterizedCostFunction: public SizedCostFunction<3, 2, 3, 4> {
+ public:
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ for (int i = 0; i < num_residuals(); ++i) {
+ residuals[i] = i;
+ }
+ if (jacobians) {
+ for (int k = 0; k < 3; ++k) {
+ // The jacobians here are full sized, but they are transformed in the
+ // evaluator into the "local" jacobian. In the tests, the "subset
+ // constant" parameterization is used, which should pick out columns
+ // from these jacobians. Put values in the jacobian that make this
+ // obvious; in particular, make the jacobians like this:
+ //
+ // 0 1 2 3 4 ...
+ // 0 1 2 3 4 ...
+ // 0 1 2 3 4 ...
+ //
+ if (jacobians[k] != NULL) {
+ MatrixRef jacobian(jacobians[k],
+ num_residuals(),
+ parameter_block_sizes()[k]);
+ for (int j = 0; j < k + 2; ++j) {
+ jacobian.col(j).setConstant(j);
+ }
+ }
+ }
+ }
+ return true;
+ }
+};
+
+TEST(ResidualBlock, EvaluteWithLocalParameterizations) {
+ double scratch[64];
+
+ // Prepare the parameter blocks.
+ double values_x[2];
+ ParameterBlock x(values_x, 2);
+
+ double values_y[3];
+ ParameterBlock y(values_y, 3);
+
+ double values_z[4];
+ ParameterBlock z(values_z, 4);
+
+ vector<ParameterBlock*> parameters;
+ parameters.push_back(&x);
+ parameters.push_back(&y);
+ parameters.push_back(&z);
+
+ // Make x have the first component fixed.
+ vector<int> x_fixed;
+ x_fixed.push_back(0);
+ SubsetParameterization x_parameterization(2, x_fixed);
+ x.SetParameterization(&x_parameterization);
+
+ // Make z have the last and last component fixed.
+ vector<int> z_fixed;
+ z_fixed.push_back(2);
+ SubsetParameterization z_parameterization(4, z_fixed);
+ z.SetParameterization(&z_parameterization);
+
+ LocallyParameterizedCostFunction cost_function;
+
+ // Create the object under tests.
+ ResidualBlock residual_block(&cost_function, NULL, parameters);
+
+ // Verify getters.
+ EXPECT_EQ(&cost_function, residual_block.cost_function());
+ EXPECT_EQ(NULL, residual_block.loss_function());
+ EXPECT_EQ(parameters[0], residual_block.parameter_blocks()[0]);
+ EXPECT_EQ(parameters[1], residual_block.parameter_blocks()[1]);
+ EXPECT_EQ(parameters[2], residual_block.parameter_blocks()[2]);
+ EXPECT_EQ(3*(2 + 4) + 3, residual_block.NumScratchDoublesForEvaluate());
+
+ // Verify cost-only evaluation.
+ double cost;
+ residual_block.Evaluate(&cost, NULL, NULL, scratch);
+ EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
+
+ // Verify cost and residual evaluation.
+ double residuals[3];
+ residual_block.Evaluate(&cost, residuals, NULL, scratch);
+ EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
+ EXPECT_EQ(0.0, residuals[0]);
+ EXPECT_EQ(1.0, residuals[1]);
+ EXPECT_EQ(2.0, residuals[2]);
+
+ // Verify cost, residual, and jacobian evaluation.
+ cost = 0.0;
+ VectorRef(residuals, 3).setConstant(0.0);
+
+ Matrix jacobian_rx(3, 1); // Since the first element is fixed.
+ Matrix jacobian_ry(3, 3);
+ Matrix jacobian_rz(3, 3); // Since the third element is fixed.
+
+ jacobian_rx.setConstant(-1.0);
+ jacobian_ry.setConstant(-1.0);
+ jacobian_rz.setConstant(-1.0);
+
+ double *jacobian_ptrs[3] = {
+ jacobian_rx.data(),
+ jacobian_ry.data(),
+ jacobian_rz.data()
+ };
+
+ residual_block.Evaluate(&cost, residuals, jacobian_ptrs, scratch);
+ EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
+ EXPECT_EQ(0.0, residuals[0]);
+ EXPECT_EQ(1.0, residuals[1]);
+ EXPECT_EQ(2.0, residuals[2]);
+
+ Matrix expected_jacobian_rx(3, 1);
+ expected_jacobian_rx << 1.0, 1.0, 1.0;
+
+ Matrix expected_jacobian_ry(3, 3);
+ expected_jacobian_ry << 0.0, 1.0, 2.0,
+ 0.0, 1.0, 2.0,
+ 0.0, 1.0, 2.0;
+
+ Matrix expected_jacobian_rz(3, 3);
+ expected_jacobian_rz << 0.0, 1.0, /* 2.0, */ 3.0, // 3rd parameter constant.
+ 0.0, 1.0, /* 2.0, */ 3.0,
+ 0.0, 1.0, /* 2.0, */ 3.0;
+
+ EXPECT_EQ(expected_jacobian_rx, jacobian_rx)
+ << "\nExpected:\n" << expected_jacobian_rx
+ << "\nActual:\n" << jacobian_rx;
+ EXPECT_EQ(expected_jacobian_ry, jacobian_ry)
+ << "\nExpected:\n" << expected_jacobian_ry
+ << "\nActual:\n" << jacobian_ry;
+ EXPECT_EQ(expected_jacobian_rz, jacobian_rz)
+ << "\nExpected:\n " << expected_jacobian_rz
+ << "\nActual:\n" << jacobian_rz;
+
+ // Verify cost, residual, and partial jacobian evaluation.
+ cost = 0.0;
+ VectorRef(residuals, 3).setConstant(0.0);
+ jacobian_rx.setConstant(-1.0);
+ jacobian_ry.setConstant(-1.0);
+ jacobian_rz.setConstant(-1.0);
+
+ jacobian_ptrs[1] = NULL; // Don't compute the jacobian for y.
+
+ residual_block.Evaluate(&cost, residuals, jacobian_ptrs, scratch);
+ EXPECT_EQ(0.5 * (0*0 + 1*1 + 2*2), cost);
+ EXPECT_EQ(0.0, residuals[0]);
+ EXPECT_EQ(1.0, residuals[1]);
+ EXPECT_EQ(2.0, residuals[2]);
+
+ EXPECT_EQ(expected_jacobian_rx, jacobian_rx);
+ EXPECT_TRUE((jacobian_ry.array() == -1.0).all()) << "\n" << jacobian_ry;
+ EXPECT_EQ(expected_jacobian_rz, jacobian_rz);
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/residual_block_utils.cc b/internal/ceres/residual_block_utils.cc
new file mode 100644
index 0000000..ff18e21
--- /dev/null
+++ b/internal/ceres/residual_block_utils.cc
@@ -0,0 +1,156 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/residual_block_utils.h"
+
+#include <cmath>
+#include <cstddef>
+#include <limits>
+#include "ceres/array_utils.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/port.h"
+#include "ceres/parameter_block.h"
+#include "ceres/residual_block.h"
+#include "ceres/stringprintf.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+void InvalidateEvaluation(const ResidualBlock& block,
+ double* cost,
+ double* residuals,
+ double** jacobians) {
+ const int num_parameter_blocks = block.NumParameterBlocks();
+ const int num_residuals = block.NumResiduals();
+
+ InvalidateArray(1, cost);
+ InvalidateArray(num_residuals, residuals);
+ if (jacobians != NULL) {
+ for (int i = 0; i < num_parameter_blocks; ++i) {
+ const int parameter_block_size = block.parameter_blocks()[i]->Size();
+ InvalidateArray(num_residuals * parameter_block_size, jacobians[i]);
+ }
+ }
+}
+
+// Utility routine to print an array of doubles to a string. If the
+// array pointer is NULL, it is treated as an array of zeros.
+void AppendArrayToString(const int size, const double* x, string* result) {
+ for (int i = 0; i < size; ++i) {
+ if (x == NULL) {
+ StringAppendF(result, "Not Computed ");
+ } else {
+ if (x[i] == kImpossibleValue) {
+ StringAppendF(result, "Uninitialized ");
+ } else {
+ StringAppendF(result, "%12g ", x[i]);
+ }
+ }
+ }
+}
+
+string EvaluationToString(const ResidualBlock& block,
+ double const* const* parameters,
+ double* cost,
+ double* residuals,
+ double** jacobians) {
+ CHECK_NOTNULL(cost);
+ CHECK_NOTNULL(residuals);
+
+ const int num_parameter_blocks = block.NumParameterBlocks();
+ const int num_residuals = block.NumResiduals();
+ string result = "";
+
+ StringAppendF(&result,
+ "Residual Block size: %d parameter blocks x %d residuals\n\n",
+ num_parameter_blocks, num_residuals);
+ result +=
+ "For each parameter block, the value of the parameters are printed in the first column \n" // NOLINT
+ "and the value of the jacobian under the corresponding residual. If a ParameterBlock was \n" // NOLINT
+ "held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry \n" // NOLINT
+ "of the Jacobian/residual array was requested but was not written to by user code, it is \n" // NOLINT
+ "indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating \n" // NOLINT
+ "to Inf or NaN is also an error. \n\n"; // NOLINT
+
+ string space = "Residuals: ";
+ result += space;
+ AppendArrayToString(num_residuals, residuals, &result);
+ StringAppendF(&result, "\n\n");
+
+ for (int i = 0; i < num_parameter_blocks; ++i) {
+ const int parameter_block_size = block.parameter_blocks()[i]->Size();
+ StringAppendF(
+ &result, "Parameter Block %d, size: %d\n", i, parameter_block_size);
+ StringAppendF(&result, "\n");
+ for (int j = 0; j < parameter_block_size; ++j) {
+ AppendArrayToString(1, parameters[i] + j, &result);
+ StringAppendF(&result, "| ");
+ for (int k = 0; k < num_residuals; ++k) {
+ AppendArrayToString(1,
+ (jacobians != NULL && jacobians[i] != NULL)
+ ? jacobians[i] + k * parameter_block_size + j
+ : NULL,
+ &result);
+ }
+ StringAppendF(&result, "\n");
+ }
+ StringAppendF(&result, "\n");
+ }
+ StringAppendF(&result, "\n");
+ return result;
+}
+
+bool IsEvaluationValid(const ResidualBlock& block,
+ double const* const* parameters,
+ double* cost,
+ double* residuals,
+ double** jacobians) {
+ const int num_parameter_blocks = block.NumParameterBlocks();
+ const int num_residuals = block.NumResiduals();
+
+ if (!IsArrayValid(num_residuals, residuals)) {
+ return false;
+ }
+
+ if (jacobians != NULL) {
+ for (int i = 0; i < num_parameter_blocks; ++i) {
+ const int parameter_block_size = block.parameter_blocks()[i]->Size();
+ if (!IsArrayValid(num_residuals * parameter_block_size, jacobians[i])) {
+ return false;
+ }
+ }
+ }
+
+ return true;
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/residual_block_utils.h b/internal/ceres/residual_block_utils.h
new file mode 100644
index 0000000..7051c21
--- /dev/null
+++ b/internal/ceres/residual_block_utils.h
@@ -0,0 +1,80 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Utility routines for ResidualBlock evaluation.
+//
+// These are useful for detecting two common class of errors.
+//
+// 1. Uninitialized memory - where the user for some reason did not
+// compute part of a cost/residual/jacobian.
+//
+// 2. Numerical failure while computing the cost/residual/jacobian,
+// e.g. NaN, infinities etc. This is particularly useful since the
+// automatic differentiation code does computations that are not
+// evident to the user and can silently generate hard to debug errors.
+
+#ifndef CERES_INTERNAL_RESIDUAL_BLOCK_UTILS_H_
+#define CERES_INTERNAL_RESIDUAL_BLOCK_UTILS_H_
+
+#include <string>
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+class ResidualBlock;
+
+// Invalidate cost, resdual and jacobian arrays (if not NULL).
+void InvalidateEvaluation(const ResidualBlock& block,
+ double* cost,
+ double* residuals,
+ double** jacobians);
+
+// Check if any of the arrays cost, residuals or jacobians contains an
+// NaN, return true if it does.
+bool IsEvaluationValid(const ResidualBlock& block,
+ double const* const* parameters,
+ double* cost,
+ double* residuals,
+ double** jacobians);
+
+// Create a string representation of the Residual block containing the
+// value of the parameters, residuals and jacobians if present.
+// Useful for debugging output.
+string EvaluationToString(const ResidualBlock& block,
+ double const* const* parameters,
+ double* cost,
+ double* residuals,
+ double** jacobians);
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_RESIDUAL_BLOCK_UTILS_H_
diff --git a/internal/ceres/residual_block_utils_test.cc b/internal/ceres/residual_block_utils_test.cc
new file mode 100644
index 0000000..db9ad6d
--- /dev/null
+++ b/internal/ceres/residual_block_utils_test.cc
@@ -0,0 +1,165 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include <cmath>
+#include <limits>
+#include "gtest/gtest.h"
+#include "ceres/parameter_block.h"
+#include "ceres/residual_block.h"
+#include "ceres/residual_block_utils.h"
+#include "ceres/cost_function.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/sized_cost_function.h"
+
+namespace ceres {
+namespace internal {
+
+// Routine to check if ResidualBlock::Evaluate for unary CostFunction
+// with one residual succeeds with true or dies.
+void CheckEvaluation(const CostFunction& cost_function, bool is_good) {
+ double x = 1.0;
+ ParameterBlock parameter_block(&x, 1);
+ vector<ParameterBlock*> parameter_blocks;
+ parameter_blocks.push_back(¶meter_block);
+
+ ResidualBlock residual_block(&cost_function,
+ NULL,
+ parameter_blocks);
+
+ scoped_array<double> scratch(
+ new double[residual_block.NumScratchDoublesForEvaluate()]);
+
+ double cost;
+ double residuals;
+ double jacobian;
+ double* jacobians[] = { &jacobian };
+
+ EXPECT_EQ(residual_block.Evaluate(&cost,
+ &residuals,
+ jacobians,
+ scratch.get()), is_good);
+}
+
+// A CostFunction that behaves normaly, i.e., it computes numerically
+// valid residuals and jacobians.
+class GoodCostFunction: public SizedCostFunction<1, 1> {
+ public:
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ residuals[0] = 1;
+ if (jacobians != NULL && jacobians[0] != NULL) {
+ jacobians[0][0] = 0.0;
+ }
+ return true;
+ }
+};
+
+// The following four CostFunctions simulate the different ways in
+// which user code can cause ResidualBlock::Evaluate to fail.
+class NoResidualUpdateCostFunction: public SizedCostFunction<1, 1> {
+ public:
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ // Forget to update the residuals.
+ // residuals[0] = 1;
+ if (jacobians != NULL && jacobians[0] != NULL) {
+ jacobians[0][0] = 0.0;
+ }
+ return true;
+ }
+};
+
+class NoJacobianUpdateCostFunction: public SizedCostFunction<1, 1> {
+ public:
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ residuals[0] = 1;
+ if (jacobians != NULL && jacobians[0] != NULL) {
+ // Forget to update the jacobians.
+ // jacobians[0][0] = 0.0;
+ }
+ return true;
+ }
+};
+
+class BadResidualCostFunction: public SizedCostFunction<1, 1> {
+ public:
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ residuals[0] = std::numeric_limits<double>::infinity();
+ if (jacobians != NULL && jacobians[0] != NULL) {
+ jacobians[0][0] = 0.0;
+ }
+ return true;
+ }
+};
+
+class BadJacobianCostFunction: public SizedCostFunction<1, 1> {
+ public:
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ residuals[0] = 1.0;
+ if (jacobians != NULL && jacobians[0] != NULL) {
+ jacobians[0][0] = std::numeric_limits<double>::quiet_NaN();
+ }
+ return true;
+ }
+};
+
+// Note: It is preferable to write the below test as:
+//
+// CheckEvaluation(GoodCostFunction(), true);
+// CheckEvaluation(NoResidualUpdateCostFunction(), false);
+// CheckEvaluation(NoJacobianUpdateCostFunction(), false);
+// ...
+//
+// however, there is a bug in the version of GCC on Mac OS X we tested, which
+// requires the objects get put into local variables instead of getting
+// instantiated on the stack.
+TEST(ResidualBlockUtils, CheckAllCombinationsOfBadness) {
+ GoodCostFunction good_fun;
+ CheckEvaluation(good_fun, true);
+ NoResidualUpdateCostFunction no_residual;
+ CheckEvaluation(no_residual, false);
+ NoJacobianUpdateCostFunction no_jacobian;
+ CheckEvaluation(no_jacobian, false);
+ BadResidualCostFunction bad_residual;
+ CheckEvaluation(bad_residual, false);
+ BadJacobianCostFunction bad_jacobian;
+ CheckEvaluation(bad_jacobian, false);
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/rotation_test.cc b/internal/ceres/rotation_test.cc
new file mode 100644
index 0000000..8e40507
--- /dev/null
+++ b/internal/ceres/rotation_test.cc
@@ -0,0 +1,970 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include <cmath>
+#include <limits>
+#include <string>
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/port.h"
+#include "ceres/jet.h"
+#include "ceres/rotation.h"
+#include "ceres/stringprintf.h"
+#include "ceres/test_util.h"
+#include "glog/logging.h"
+#include "gmock/gmock.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+const double kPi = 3.14159265358979323846;
+const double kHalfSqrt2 = 0.707106781186547524401;
+
+double RandDouble() {
+ double r = rand();
+ return r / RAND_MAX;
+}
+
+// A tolerance value for floating-point comparisons.
+static double const kTolerance = numeric_limits<double>::epsilon() * 10;
+
+// Looser tolerance used for for numerically unstable conversions.
+static double const kLooseTolerance = 1e-9;
+
+// Use as:
+// double quaternion[4];
+// EXPECT_THAT(quaternion, IsNormalizedQuaternion());
+MATCHER(IsNormalizedQuaternion, "") {
+ if (arg == NULL) {
+ *result_listener << "Null quaternion";
+ return false;
+ }
+
+ double norm2 = arg[0] * arg[0] + arg[1] * arg[1] +
+ arg[2] * arg[2] + arg[3] * arg[3];
+ if (fabs(norm2 - 1.0) > kTolerance) {
+ *result_listener << "squared norm is " << norm2;
+ return false;
+ }
+
+ return true;
+}
+
+// Use as:
+// double expected_quaternion[4];
+// double actual_quaternion[4];
+// EXPECT_THAT(actual_quaternion, IsNearQuaternion(expected_quaternion));
+MATCHER_P(IsNearQuaternion, expected, "") {
+ if (arg == NULL) {
+ *result_listener << "Null quaternion";
+ return false;
+ }
+
+ // Quaternions are equivalent upto a sign change. So we will compare
+ // both signs before declaring failure.
+ bool near = true;
+ for (int i = 0; i < 4; i++) {
+ if (fabs(arg[i] - expected[i]) > kTolerance) {
+ near = false;
+ break;
+ }
+ }
+
+ if (near) {
+ return true;
+ }
+
+ near = true;
+ for (int i = 0; i < 4; i++) {
+ if (fabs(arg[i] + expected[i]) > kTolerance) {
+ near = false;
+ break;
+ }
+ }
+
+ if (near) {
+ return true;
+ }
+
+ *result_listener << "expected : "
+ << expected[0] << " "
+ << expected[1] << " "
+ << expected[2] << " "
+ << expected[3] << " "
+ << "actual : "
+ << arg[0] << " "
+ << arg[1] << " "
+ << arg[2] << " "
+ << arg[3];
+ return false;
+}
+
+// Use as:
+// double expected_axis_angle[4];
+// double actual_axis_angle[4];
+// EXPECT_THAT(actual_axis_angle, IsNearAngleAxis(expected_axis_angle));
+MATCHER_P(IsNearAngleAxis, expected, "") {
+ if (arg == NULL) {
+ *result_listener << "Null axis/angle";
+ return false;
+ }
+
+ for (int i = 0; i < 3; i++) {
+ if (fabs(arg[i] - expected[i]) > kTolerance) {
+ *result_listener << "component " << i << " should be " << expected[i];
+ return false;
+ }
+ }
+
+ return true;
+}
+
+// Use as:
+// double matrix[9];
+// EXPECT_THAT(matrix, IsOrthonormal());
+MATCHER(IsOrthonormal, "") {
+ if (arg == NULL) {
+ *result_listener << "Null matrix";
+ return false;
+ }
+
+ for (int c1 = 0; c1 < 3; c1++) {
+ for (int c2 = 0; c2 < 3; c2++) {
+ double v = 0;
+ for (int i = 0; i < 3; i++) {
+ v += arg[i + 3 * c1] * arg[i + 3 * c2];
+ }
+ double expected = (c1 == c2) ? 1 : 0;
+ if (fabs(expected - v) > kTolerance) {
+ *result_listener << "Columns " << c1 << " and " << c2
+ << " should have dot product " << expected
+ << " but have " << v;
+ return false;
+ }
+ }
+ }
+
+ return true;
+}
+
+// Use as:
+// double matrix1[9];
+// double matrix2[9];
+// EXPECT_THAT(matrix1, IsNear3x3Matrix(matrix2));
+MATCHER_P(IsNear3x3Matrix, expected, "") {
+ if (arg == NULL) {
+ *result_listener << "Null matrix";
+ return false;
+ }
+
+ for (int i = 0; i < 9; i++) {
+ if (fabs(arg[i] - expected[i]) > kTolerance) {
+ *result_listener << "component " << i << " should be " << expected[i];
+ return false;
+ }
+ }
+
+ return true;
+}
+
+// Transforms a zero axis/angle to a quaternion.
+TEST(Rotation, ZeroAngleAxisToQuaternion) {
+ double axis_angle[3] = { 0, 0, 0 };
+ double quaternion[4];
+ double expected[4] = { 1, 0, 0, 0 };
+ AngleAxisToQuaternion(axis_angle, quaternion);
+ EXPECT_THAT(quaternion, IsNormalizedQuaternion());
+ EXPECT_THAT(quaternion, IsNearQuaternion(expected));
+}
+
+// Test that exact conversion works for small angles.
+TEST(Rotation, SmallAngleAxisToQuaternion) {
+ // Small, finite value to test.
+ double theta = 1.0e-2;
+ double axis_angle[3] = { theta, 0, 0 };
+ double quaternion[4];
+ double expected[4] = { cos(theta/2), sin(theta/2.0), 0, 0 };
+ AngleAxisToQuaternion(axis_angle, quaternion);
+ EXPECT_THAT(quaternion, IsNormalizedQuaternion());
+ EXPECT_THAT(quaternion, IsNearQuaternion(expected));
+}
+
+// Test that approximate conversion works for very small angles.
+TEST(Rotation, TinyAngleAxisToQuaternion) {
+ // Very small value that could potentially cause underflow.
+ double theta = pow(numeric_limits<double>::min(), 0.75);
+ double axis_angle[3] = { theta, 0, 0 };
+ double quaternion[4];
+ double expected[4] = { cos(theta/2), sin(theta/2.0), 0, 0 };
+ AngleAxisToQuaternion(axis_angle, quaternion);
+ EXPECT_THAT(quaternion, IsNormalizedQuaternion());
+ EXPECT_THAT(quaternion, IsNearQuaternion(expected));
+}
+
+// Transforms a rotation by pi/2 around X to a quaternion.
+TEST(Rotation, XRotationToQuaternion) {
+ double axis_angle[3] = { kPi / 2, 0, 0 };
+ double quaternion[4];
+ double expected[4] = { kHalfSqrt2, kHalfSqrt2, 0, 0 };
+ AngleAxisToQuaternion(axis_angle, quaternion);
+ EXPECT_THAT(quaternion, IsNormalizedQuaternion());
+ EXPECT_THAT(quaternion, IsNearQuaternion(expected));
+}
+
+// Transforms a unit quaternion to an axis angle.
+TEST(Rotation, UnitQuaternionToAngleAxis) {
+ double quaternion[4] = { 1, 0, 0, 0 };
+ double axis_angle[3];
+ double expected[3] = { 0, 0, 0 };
+ QuaternionToAngleAxis(quaternion, axis_angle);
+ EXPECT_THAT(axis_angle, IsNearAngleAxis(expected));
+}
+
+// Transforms a quaternion that rotates by pi about the Y axis to an axis angle.
+TEST(Rotation, YRotationQuaternionToAngleAxis) {
+ double quaternion[4] = { 0, 0, 1, 0 };
+ double axis_angle[3];
+ double expected[3] = { 0, kPi, 0 };
+ QuaternionToAngleAxis(quaternion, axis_angle);
+ EXPECT_THAT(axis_angle, IsNearAngleAxis(expected));
+}
+
+// Transforms a quaternion that rotates by pi/3 about the Z axis to an axis
+// angle.
+TEST(Rotation, ZRotationQuaternionToAngleAxis) {
+ double quaternion[4] = { sqrt(3) / 2, 0, 0, 0.5 };
+ double axis_angle[3];
+ double expected[3] = { 0, 0, kPi / 3 };
+ QuaternionToAngleAxis(quaternion, axis_angle);
+ EXPECT_THAT(axis_angle, IsNearAngleAxis(expected));
+}
+
+// Test that exact conversion works for small angles.
+TEST(Rotation, SmallQuaternionToAngleAxis) {
+ // Small, finite value to test.
+ double theta = 1.0e-2;
+ double quaternion[4] = { cos(theta/2), sin(theta/2.0), 0, 0 };
+ double axis_angle[3];
+ double expected[3] = { theta, 0, 0 };
+ QuaternionToAngleAxis(quaternion, axis_angle);
+ EXPECT_THAT(axis_angle, IsNearAngleAxis(expected));
+}
+
+// Test that approximate conversion works for very small angles.
+TEST(Rotation, TinyQuaternionToAngleAxis) {
+ // Very small value that could potentially cause underflow.
+ double theta = pow(numeric_limits<double>::min(), 0.75);
+ double quaternion[4] = { cos(theta/2), sin(theta/2.0), 0, 0 };
+ double axis_angle[3];
+ double expected[3] = { theta, 0, 0 };
+ QuaternionToAngleAxis(quaternion, axis_angle);
+ EXPECT_THAT(axis_angle, IsNearAngleAxis(expected));
+}
+
+TEST(Rotation, QuaternionToAngleAxisAngleIsLessThanPi) {
+ double quaternion[4];
+ double angle_axis[3];
+
+ const double half_theta = 0.75 * kPi;
+
+ quaternion[0] = cos(half_theta);
+ quaternion[1] = 1.0 * sin(half_theta);
+ quaternion[2] = 0.0;
+ quaternion[3] = 0.0;
+ QuaternionToAngleAxis(quaternion, angle_axis);
+ const double angle = sqrt(angle_axis[0] * angle_axis[0] +
+ angle_axis[1] * angle_axis[1] +
+ angle_axis[2] * angle_axis[2]);
+ EXPECT_LE(angle, kPi);
+}
+
+static const int kNumTrials = 10000;
+
+// Takes a bunch of random axis/angle values, converts them to quaternions,
+// and back again.
+TEST(Rotation, AngleAxisToQuaterionAndBack) {
+ srand(5);
+ for (int i = 0; i < kNumTrials; i++) {
+ double axis_angle[3];
+ // Make an axis by choosing three random numbers in [-1, 1) and
+ // normalizing.
+ double norm = 0;
+ for (int i = 0; i < 3; i++) {
+ axis_angle[i] = RandDouble() * 2 - 1;
+ norm += axis_angle[i] * axis_angle[i];
+ }
+ norm = sqrt(norm);
+
+ // Angle in [-pi, pi).
+ double theta = kPi * 2 * RandDouble() - kPi;
+ for (int i = 0; i < 3; i++) {
+ axis_angle[i] = axis_angle[i] * theta / norm;
+ }
+
+ double quaternion[4];
+ double round_trip[3];
+ // We use ASSERTs here because if there's one failure, there are
+ // probably many and spewing a million failures doesn't make anyone's
+ // day.
+ AngleAxisToQuaternion(axis_angle, quaternion);
+ ASSERT_THAT(quaternion, IsNormalizedQuaternion());
+ QuaternionToAngleAxis(quaternion, round_trip);
+ ASSERT_THAT(round_trip, IsNearAngleAxis(axis_angle));
+ }
+}
+
+// Takes a bunch of random quaternions, converts them to axis/angle,
+// and back again.
+TEST(Rotation, QuaterionToAngleAxisAndBack) {
+ srand(5);
+ for (int i = 0; i < kNumTrials; i++) {
+ double quaternion[4];
+ // Choose four random numbers in [-1, 1) and normalize.
+ double norm = 0;
+ for (int i = 0; i < 4; i++) {
+ quaternion[i] = RandDouble() * 2 - 1;
+ norm += quaternion[i] * quaternion[i];
+ }
+ norm = sqrt(norm);
+
+ for (int i = 0; i < 4; i++) {
+ quaternion[i] = quaternion[i] / norm;
+ }
+
+ double axis_angle[3];
+ double round_trip[4];
+ QuaternionToAngleAxis(quaternion, axis_angle);
+ AngleAxisToQuaternion(axis_angle, round_trip);
+ ASSERT_THAT(round_trip, IsNormalizedQuaternion());
+ ASSERT_THAT(round_trip, IsNearQuaternion(quaternion));
+ }
+}
+
+// Transforms a zero axis/angle to a rotation matrix.
+TEST(Rotation, ZeroAngleAxisToRotationMatrix) {
+ double axis_angle[3] = { 0, 0, 0 };
+ double matrix[9];
+ double expected[9] = { 1, 0, 0, 0, 1, 0, 0, 0, 1 };
+ AngleAxisToRotationMatrix(axis_angle, matrix);
+ EXPECT_THAT(matrix, IsOrthonormal());
+ EXPECT_THAT(matrix, IsNear3x3Matrix(expected));
+}
+
+TEST(Rotation, NearZeroAngleAxisToRotationMatrix) {
+ double axis_angle[3] = { 1e-24, 2e-24, 3e-24 };
+ double matrix[9];
+ double expected[9] = { 1, 0, 0, 0, 1, 0, 0, 0, 1 };
+ AngleAxisToRotationMatrix(axis_angle, matrix);
+ EXPECT_THAT(matrix, IsOrthonormal());
+ EXPECT_THAT(matrix, IsNear3x3Matrix(expected));
+}
+
+// Transforms a rotation by pi/2 around X to a rotation matrix and back.
+TEST(Rotation, XRotationToRotationMatrix) {
+ double axis_angle[3] = { kPi / 2, 0, 0 };
+ double matrix[9];
+ // The rotation matrices are stored column-major.
+ double expected[9] = { 1, 0, 0, 0, 0, 1, 0, -1, 0 };
+ AngleAxisToRotationMatrix(axis_angle, matrix);
+ EXPECT_THAT(matrix, IsOrthonormal());
+ EXPECT_THAT(matrix, IsNear3x3Matrix(expected));
+ double round_trip[3];
+ RotationMatrixToAngleAxis(matrix, round_trip);
+ EXPECT_THAT(round_trip, IsNearAngleAxis(axis_angle));
+}
+
+// Transforms an axis angle that rotates by pi about the Y axis to a
+// rotation matrix and back.
+TEST(Rotation, YRotationToRotationMatrix) {
+ double axis_angle[3] = { 0, kPi, 0 };
+ double matrix[9];
+ double expected[9] = { -1, 0, 0, 0, 1, 0, 0, 0, -1 };
+ AngleAxisToRotationMatrix(axis_angle, matrix);
+ EXPECT_THAT(matrix, IsOrthonormal());
+ EXPECT_THAT(matrix, IsNear3x3Matrix(expected));
+
+ double round_trip[3];
+ RotationMatrixToAngleAxis(matrix, round_trip);
+ EXPECT_THAT(round_trip, IsNearAngleAxis(axis_angle));
+}
+
+TEST(Rotation, NearPiAngleAxisRoundTrip) {
+ double in_axis_angle[3];
+ double matrix[9];
+ double out_axis_angle[3];
+
+ srand(5);
+ for (int i = 0; i < kNumTrials; i++) {
+ // Make an axis by choosing three random numbers in [-1, 1) and
+ // normalizing.
+ double norm = 0;
+ for (int i = 0; i < 3; i++) {
+ in_axis_angle[i] = RandDouble() * 2 - 1;
+ norm += in_axis_angle[i] * in_axis_angle[i];
+ }
+ norm = sqrt(norm);
+
+ // Angle in [pi - kMaxSmallAngle, pi).
+ const double kMaxSmallAngle = 1e-2;
+ double theta = kPi - kMaxSmallAngle * RandDouble();
+
+ for (int i = 0; i < 3; i++) {
+ in_axis_angle[i] *= (theta / norm);
+ }
+ AngleAxisToRotationMatrix(in_axis_angle, matrix);
+ RotationMatrixToAngleAxis(matrix, out_axis_angle);
+
+ for (int i = 0; i < 3; ++i) {
+ EXPECT_NEAR(out_axis_angle[i], in_axis_angle[i], kLooseTolerance);
+ }
+ }
+}
+
+TEST(Rotation, AtPiAngleAxisRoundTrip) {
+ // A rotation of kPi about the X axis;
+ static const double kMatrix[3][3] = {
+ {1.0, 0.0, 0.0},
+ {0.0, -1.0, 0.0},
+ {0.0, 0.0, -1.0}
+ };
+
+ double in_matrix[9];
+ // Fill it from kMatrix in col-major order.
+ for (int j = 0, k = 0; j < 3; ++j) {
+ for (int i = 0; i < 3; ++i, ++k) {
+ in_matrix[k] = kMatrix[i][j];
+ }
+ }
+
+ const double expected_axis_angle[3] = { kPi, 0, 0 };
+
+ double out_matrix[9];
+ double axis_angle[3];
+ RotationMatrixToAngleAxis(in_matrix, axis_angle);
+ AngleAxisToRotationMatrix(axis_angle, out_matrix);
+
+ LOG(INFO) << "AngleAxis = " << axis_angle[0] << " " << axis_angle[1]
+ << " " << axis_angle[2];
+ LOG(INFO) << "Expected AngleAxis = " << kPi << " 0 0";
+ double out_rowmajor[3][3];
+ for (int j = 0, k = 0; j < 3; ++j) {
+ for (int i = 0; i < 3; ++i, ++k) {
+ out_rowmajor[i][j] = out_matrix[k];
+ }
+ }
+ LOG(INFO) << "Rotation:";
+ LOG(INFO) << "EXPECTED | ACTUAL";
+ for (int i = 0; i < 3; ++i) {
+ string line;
+ for (int j = 0; j < 3; ++j) {
+ StringAppendF(&line, "%g ", kMatrix[i][j]);
+ }
+ line += " | ";
+ for (int j = 0; j < 3; ++j) {
+ StringAppendF(&line, "%g ", out_rowmajor[i][j]);
+ }
+ LOG(INFO) << line;
+ }
+
+ EXPECT_THAT(axis_angle, IsNearAngleAxis(expected_axis_angle));
+ EXPECT_THAT(out_matrix, IsNear3x3Matrix(in_matrix));
+}
+
+// Transforms an axis angle that rotates by pi/3 about the Z axis to a
+// rotation matrix.
+TEST(Rotation, ZRotationToRotationMatrix) {
+ double axis_angle[3] = { 0, 0, kPi / 3 };
+ double matrix[9];
+ // This is laid-out row-major on the screen but is actually stored
+ // column-major.
+ double expected[9] = { 0.5, sqrt(3) / 2, 0, // Column 1
+ -sqrt(3) / 2, 0.5, 0, // Column 2
+ 0, 0, 1 }; // Column 3
+ AngleAxisToRotationMatrix(axis_angle, matrix);
+ EXPECT_THAT(matrix, IsOrthonormal());
+ EXPECT_THAT(matrix, IsNear3x3Matrix(expected));
+ double round_trip[3];
+ RotationMatrixToAngleAxis(matrix, round_trip);
+ EXPECT_THAT(round_trip, IsNearAngleAxis(axis_angle));
+}
+
+// Takes a bunch of random axis/angle values, converts them to rotation
+// matrices, and back again.
+TEST(Rotation, AngleAxisToRotationMatrixAndBack) {
+ srand(5);
+ for (int i = 0; i < kNumTrials; i++) {
+ double axis_angle[3];
+ // Make an axis by choosing three random numbers in [-1, 1) and
+ // normalizing.
+ double norm = 0;
+ for (int i = 0; i < 3; i++) {
+ axis_angle[i] = RandDouble() * 2 - 1;
+ norm += axis_angle[i] * axis_angle[i];
+ }
+ norm = sqrt(norm);
+
+ // Angle in [-pi, pi).
+ double theta = kPi * 2 * RandDouble() - kPi;
+ for (int i = 0; i < 3; i++) {
+ axis_angle[i] = axis_angle[i] * theta / norm;
+ }
+
+ double matrix[9];
+ double round_trip[3];
+ AngleAxisToRotationMatrix(axis_angle, matrix);
+ ASSERT_THAT(matrix, IsOrthonormal());
+ RotationMatrixToAngleAxis(matrix, round_trip);
+
+ for (int i = 0; i < 3; ++i) {
+ EXPECT_NEAR(round_trip[i], axis_angle[i], kLooseTolerance);
+ }
+ }
+}
+
+// Transposes a 3x3 matrix.
+static void Transpose3x3(double m[9]) {
+ std::swap(m[1], m[3]);
+ std::swap(m[2], m[6]);
+ std::swap(m[5], m[7]);
+}
+
+// Convert Euler angles from radians to degrees.
+static void ToDegrees(double ea[3]) {
+ for (int i = 0; i < 3; ++i)
+ ea[i] *= 180.0 / kPi;
+}
+
+// Compare the 3x3 rotation matrices produced by the axis-angle
+// rotation 'aa' and the Euler angle rotation 'ea' (in radians).
+static void CompareEulerToAngleAxis(double aa[3], double ea[3]) {
+ double aa_matrix[9];
+ AngleAxisToRotationMatrix(aa, aa_matrix);
+ Transpose3x3(aa_matrix); // Column to row major order.
+
+ double ea_matrix[9];
+ ToDegrees(ea); // Radians to degrees.
+ const int kRowStride = 3;
+ EulerAnglesToRotationMatrix(ea, kRowStride, ea_matrix);
+
+ EXPECT_THAT(aa_matrix, IsOrthonormal());
+ EXPECT_THAT(ea_matrix, IsOrthonormal());
+ EXPECT_THAT(ea_matrix, IsNear3x3Matrix(aa_matrix));
+}
+
+// Test with rotation axis along the x/y/z axes.
+// Also test zero rotation.
+TEST(EulerAnglesToRotationMatrix, OnAxis) {
+ int n_tests = 0;
+ for (double x = -1.0; x <= 1.0; x += 1.0) {
+ for (double y = -1.0; y <= 1.0; y += 1.0) {
+ for (double z = -1.0; z <= 1.0; z += 1.0) {
+ if ((x != 0) + (y != 0) + (z != 0) > 1)
+ continue;
+ double axis_angle[3] = {x, y, z};
+ double euler_angles[3] = {x, y, z};
+ CompareEulerToAngleAxis(axis_angle, euler_angles);
+ ++n_tests;
+ }
+ }
+ }
+ CHECK_EQ(7, n_tests);
+}
+
+// Test that a random rotation produces an orthonormal rotation
+// matrix.
+TEST(EulerAnglesToRotationMatrix, IsOrthonormal) {
+ srand(5);
+ for (int trial = 0; trial < kNumTrials; ++trial) {
+ double ea[3];
+ for (int i = 0; i < 3; ++i)
+ ea[i] = 360.0 * (RandDouble() * 2.0 - 1.0);
+ double ea_matrix[9];
+ ToDegrees(ea); // Radians to degrees.
+ EulerAnglesToRotationMatrix(ea, 3, ea_matrix);
+ EXPECT_THAT(ea_matrix, IsOrthonormal());
+ }
+}
+
+// Tests using Jets for specific behavior involving auto differentiation
+// near singularity points.
+
+typedef Jet<double, 3> J3;
+typedef Jet<double, 4> J4;
+
+J3 MakeJ3(double a, double v0, double v1, double v2) {
+ J3 j;
+ j.a = a;
+ j.v[0] = v0;
+ j.v[1] = v1;
+ j.v[2] = v2;
+ return j;
+}
+
+J4 MakeJ4(double a, double v0, double v1, double v2, double v3) {
+ J4 j;
+ j.a = a;
+ j.v[0] = v0;
+ j.v[1] = v1;
+ j.v[2] = v2;
+ j.v[3] = v3;
+ return j;
+}
+
+
+bool IsClose(double x, double y) {
+ EXPECT_FALSE(IsNaN(x));
+ EXPECT_FALSE(IsNaN(y));
+ double absdiff = fabs(x - y);
+ if (x == 0 || y == 0) {
+ return absdiff <= kTolerance;
+ }
+ double reldiff = absdiff / max(fabs(x), fabs(y));
+ return reldiff <= kTolerance;
+}
+
+template <int N>
+bool IsClose(const Jet<double, N> &x, const Jet<double, N> &y) {
+ if (IsClose(x.a, y.a)) {
+ for (int i = 0; i < N; i++) {
+ if (!IsClose(x.v[i], y.v[i])) {
+ return false;
+ }
+ }
+ }
+ return true;
+}
+
+template <int M, int N>
+void ExpectJetArraysClose(const Jet<double, N> *x, const Jet<double, N> *y) {
+ for (int i = 0; i < M; i++) {
+ if (!IsClose(x[i], y[i])) {
+ LOG(ERROR) << "Jet " << i << "/" << M << " not equal";
+ LOG(ERROR) << "x[" << i << "]: " << x[i];
+ LOG(ERROR) << "y[" << i << "]: " << y[i];
+ Jet<double, N> d, zero;
+ d.a = y[i].a - x[i].a;
+ for (int j = 0; j < N; j++) {
+ d.v[j] = y[i].v[j] - x[i].v[j];
+ }
+ LOG(ERROR) << "diff: " << d;
+ EXPECT_TRUE(IsClose(x[i], y[i]));
+ }
+ }
+}
+
+// Log-10 of a value well below machine precision.
+static const int kSmallTinyCutoff =
+ static_cast<int>(2 * log(numeric_limits<double>::epsilon())/log(10.0));
+
+// Log-10 of a value just below values representable by double.
+static const int kTinyZeroLimit =
+ static_cast<int>(1 + log(numeric_limits<double>::min())/log(10.0));
+
+// Test that exact conversion works for small angles when jets are used.
+TEST(Rotation, SmallAngleAxisToQuaternionForJets) {
+ // Examine small x rotations that are still large enough
+ // to be well within the range represented by doubles.
+ for (int i = -2; i >= kSmallTinyCutoff; i--) {
+ double theta = pow(10.0, i);
+ J3 axis_angle[3] = { J3(theta, 0), J3(0, 1), J3(0, 2) };
+ J3 quaternion[4];
+ J3 expected[4] = {
+ MakeJ3(cos(theta/2), -sin(theta/2)/2, 0, 0),
+ MakeJ3(sin(theta/2), cos(theta/2)/2, 0, 0),
+ MakeJ3(0, 0, sin(theta/2)/theta, 0),
+ MakeJ3(0, 0, 0, sin(theta/2)/theta),
+ };
+ AngleAxisToQuaternion(axis_angle, quaternion);
+ ExpectJetArraysClose<4, 3>(quaternion, expected);
+ }
+}
+
+
+// Test that conversion works for very small angles when jets are used.
+TEST(Rotation, TinyAngleAxisToQuaternionForJets) {
+ // Examine tiny x rotations that extend all the way to where
+ // underflow occurs.
+ for (int i = kSmallTinyCutoff; i >= kTinyZeroLimit; i--) {
+ double theta = pow(10.0, i);
+ J3 axis_angle[3] = { J3(theta, 0), J3(0, 1), J3(0, 2) };
+ J3 quaternion[4];
+ // To avoid loss of precision in the test itself,
+ // a finite expansion is used here, which will
+ // be exact up to machine precision for the test values used.
+ J3 expected[4] = {
+ MakeJ3(1.0, 0, 0, 0),
+ MakeJ3(0, 0.5, 0, 0),
+ MakeJ3(0, 0, 0.5, 0),
+ MakeJ3(0, 0, 0, 0.5),
+ };
+ AngleAxisToQuaternion(axis_angle, quaternion);
+ ExpectJetArraysClose<4, 3>(quaternion, expected);
+ }
+}
+
+// Test that derivatives are correct for zero rotation.
+TEST(Rotation, ZeroAngleAxisToQuaternionForJets) {
+ J3 axis_angle[3] = { J3(0, 0), J3(0, 1), J3(0, 2) };
+ J3 quaternion[4];
+ J3 expected[4] = {
+ MakeJ3(1.0, 0, 0, 0),
+ MakeJ3(0, 0.5, 0, 0),
+ MakeJ3(0, 0, 0.5, 0),
+ MakeJ3(0, 0, 0, 0.5),
+ };
+ AngleAxisToQuaternion(axis_angle, quaternion);
+ ExpectJetArraysClose<4, 3>(quaternion, expected);
+}
+
+// Test that exact conversion works for small angles.
+TEST(Rotation, SmallQuaternionToAngleAxisForJets) {
+ // Examine small x rotations that are still large enough
+ // to be well within the range represented by doubles.
+ for (int i = -2; i >= kSmallTinyCutoff; i--) {
+ double theta = pow(10.0, i);
+ double s = sin(theta);
+ double c = cos(theta);
+ J4 quaternion[4] = { J4(c, 0), J4(s, 1), J4(0, 2), J4(0, 3) };
+ J4 axis_angle[3];
+ J4 expected[3] = {
+ MakeJ4(s, -2*theta, 2*theta*c, 0, 0),
+ MakeJ4(0, 0, 0, 2*theta/s, 0),
+ MakeJ4(0, 0, 0, 0, 2*theta/s),
+ };
+ QuaternionToAngleAxis(quaternion, axis_angle);
+ ExpectJetArraysClose<3, 4>(axis_angle, expected);
+ }
+}
+
+// Test that conversion works for very small angles.
+TEST(Rotation, TinyQuaternionToAngleAxisForJets) {
+ // Examine tiny x rotations that extend all the way to where
+ // underflow occurs.
+ for (int i = kSmallTinyCutoff; i >= kTinyZeroLimit; i--) {
+ double theta = pow(10.0, i);
+ double s = sin(theta);
+ double c = cos(theta);
+ J4 quaternion[4] = { J4(c, 0), J4(s, 1), J4(0, 2), J4(0, 3) };
+ J4 axis_angle[3];
+ // To avoid loss of precision in the test itself,
+ // a finite expansion is used here, which will
+ // be exact up to machine precision for the test values used.
+ J4 expected[3] = {
+ MakeJ4(theta, -2*theta, 2.0, 0, 0),
+ MakeJ4(0, 0, 0, 2.0, 0),
+ MakeJ4(0, 0, 0, 0, 2.0),
+ };
+ QuaternionToAngleAxis(quaternion, axis_angle);
+ ExpectJetArraysClose<3, 4>(axis_angle, expected);
+ }
+}
+
+// Test that conversion works for no rotation.
+TEST(Rotation, ZeroQuaternionToAngleAxisForJets) {
+ J4 quaternion[4] = { J4(1, 0), J4(0, 1), J4(0, 2), J4(0, 3) };
+ J4 axis_angle[3];
+ J4 expected[3] = {
+ MakeJ4(0, 0, 2.0, 0, 0),
+ MakeJ4(0, 0, 0, 2.0, 0),
+ MakeJ4(0, 0, 0, 0, 2.0),
+ };
+ QuaternionToAngleAxis(quaternion, axis_angle);
+ ExpectJetArraysClose<3, 4>(axis_angle, expected);
+}
+
+TEST(Quaternion, RotatePointGivesSameAnswerAsRotationByMatrixCanned) {
+ // Canned data generated in octave.
+ double const q[4] = {
+ +0.1956830471754074,
+ -0.0150618562474847,
+ +0.7634572982788086,
+ -0.3019454777240753,
+ };
+ double const Q[3][3] = { // Scaled rotation matrix.
+ { -0.6355194033477252, 0.0951730541682254, 0.3078870197911186 },
+ { -0.1411693904792992, 0.5297609702153905, -0.4551502574482019 },
+ { -0.2896955822708862, -0.4669396571547050, -0.4536309793389248 },
+ };
+ double const R[3][3] = { // With unit rows and columns.
+ { -0.8918859164053080, 0.1335655625725649, 0.4320876677394745 },
+ { -0.1981166751680096, 0.7434648665444399, -0.6387564287225856 },
+ { -0.4065578619806013, -0.6553016349046693, -0.6366242786393164 },
+ };
+
+ // Compute R from q and compare to known answer.
+ double Rq[3][3];
+ QuaternionToScaledRotation<double>(q, Rq[0]);
+ ExpectArraysClose(9, Q[0], Rq[0], kTolerance);
+
+ // Now do the same but compute R with normalization.
+ QuaternionToRotation<double>(q, Rq[0]);
+ ExpectArraysClose(9, R[0], Rq[0], kTolerance);
+}
+
+
+TEST(Quaternion, RotatePointGivesSameAnswerAsRotationByMatrix) {
+ // Rotation defined by a unit quaternion.
+ double const q[4] = {
+ 0.2318160216097109,
+ -0.0178430356832060,
+ 0.9044300776717159,
+ -0.3576998641394597,
+ };
+ double const p[3] = {
+ +0.11,
+ -13.15,
+ 1.17,
+ };
+
+ double R[3 * 3];
+ QuaternionToRotation(q, R);
+
+ double result1[3];
+ UnitQuaternionRotatePoint(q, p, result1);
+
+ double result2[3];
+ VectorRef(result2, 3) = ConstMatrixRef(R, 3, 3)* ConstVectorRef(p, 3);
+ ExpectArraysClose(3, result1, result2, kTolerance);
+}
+
+
+// Verify that (a * b) * c == a * (b * c).
+TEST(Quaternion, MultiplicationIsAssociative) {
+ double a[4];
+ double b[4];
+ double c[4];
+ for (int i = 0; i < 4; ++i) {
+ a[i] = 2 * RandDouble() - 1;
+ b[i] = 2 * RandDouble() - 1;
+ c[i] = 2 * RandDouble() - 1;
+ }
+
+ double ab[4];
+ double ab_c[4];
+ QuaternionProduct(a, b, ab);
+ QuaternionProduct(ab, c, ab_c);
+
+ double bc[4];
+ double a_bc[4];
+ QuaternionProduct(b, c, bc);
+ QuaternionProduct(a, bc, a_bc);
+
+ ASSERT_NEAR(ab_c[0], a_bc[0], kTolerance);
+ ASSERT_NEAR(ab_c[1], a_bc[1], kTolerance);
+ ASSERT_NEAR(ab_c[2], a_bc[2], kTolerance);
+ ASSERT_NEAR(ab_c[3], a_bc[3], kTolerance);
+}
+
+
+TEST(AngleAxis, RotatePointGivesSameAnswerAsRotationMatrix) {
+ double angle_axis[3];
+ double R[9];
+ double p[3];
+ double angle_axis_rotated_p[3];
+ double rotation_matrix_rotated_p[3];
+
+ for (int i = 0; i < 10000; ++i) {
+ double theta = (2.0 * i * 0.0011 - 1.0) * kPi;
+ for (int j = 0; j < 50; ++j) {
+ double norm2 = 0.0;
+ for (int k = 0; k < 3; ++k) {
+ angle_axis[k] = 2.0 * RandDouble() - 1.0;
+ p[k] = 2.0 * RandDouble() - 1.0;
+ norm2 = angle_axis[k] * angle_axis[k];
+ }
+
+ const double inv_norm = theta / sqrt(norm2);
+ for (int k = 0; k < 3; ++k) {
+ angle_axis[k] *= inv_norm;
+ }
+
+ AngleAxisToRotationMatrix(angle_axis, R);
+ rotation_matrix_rotated_p[0] = R[0] * p[0] + R[3] * p[1] + R[6] * p[2];
+ rotation_matrix_rotated_p[1] = R[1] * p[0] + R[4] * p[1] + R[7] * p[2];
+ rotation_matrix_rotated_p[2] = R[2] * p[0] + R[5] * p[1] + R[8] * p[2];
+
+ AngleAxisRotatePoint(angle_axis, p, angle_axis_rotated_p);
+ for (int k = 0; k < 3; ++k) {
+ EXPECT_NEAR(rotation_matrix_rotated_p[k],
+ angle_axis_rotated_p[k],
+ kTolerance) << "p: " << p[0]
+ << " " << p[1]
+ << " " << p[2]
+ << " angle_axis: " << angle_axis[0]
+ << " " << angle_axis[1]
+ << " " << angle_axis[2];
+ }
+ }
+ }
+}
+
+TEST(AngleAxis, NearZeroRotatePointGivesSameAnswerAsRotationMatrix) {
+ double angle_axis[3];
+ double R[9];
+ double p[3];
+ double angle_axis_rotated_p[3];
+ double rotation_matrix_rotated_p[3];
+
+ for (int i = 0; i < 10000; ++i) {
+ double norm2 = 0.0;
+ for (int k = 0; k < 3; ++k) {
+ angle_axis[k] = 2.0 * RandDouble() - 1.0;
+ p[k] = 2.0 * RandDouble() - 1.0;
+ norm2 = angle_axis[k] * angle_axis[k];
+ }
+
+ double theta = (2.0 * i * 0.0001 - 1.0) * 1e-16;
+ const double inv_norm = theta / sqrt(norm2);
+ for (int k = 0; k < 3; ++k) {
+ angle_axis[k] *= inv_norm;
+ }
+
+ AngleAxisToRotationMatrix(angle_axis, R);
+ rotation_matrix_rotated_p[0] = R[0] * p[0] + R[3] * p[1] + R[6] * p[2];
+ rotation_matrix_rotated_p[1] = R[1] * p[0] + R[4] * p[1] + R[7] * p[2];
+ rotation_matrix_rotated_p[2] = R[2] * p[0] + R[5] * p[1] + R[8] * p[2];
+
+ AngleAxisRotatePoint(angle_axis, p, angle_axis_rotated_p);
+ for (int k = 0; k < 3; ++k) {
+ EXPECT_NEAR(rotation_matrix_rotated_p[k],
+ angle_axis_rotated_p[k],
+ kTolerance) << "p: " << p[0]
+ << " " << p[1]
+ << " " << p[2]
+ << " angle_axis: " << angle_axis[0]
+ << " " << angle_axis[1]
+ << " " << angle_axis[2];
+ }
+ }
+}
+
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/runtime_numeric_diff_cost_function.cc b/internal/ceres/runtime_numeric_diff_cost_function.cc
new file mode 100644
index 0000000..7af275c
--- /dev/null
+++ b/internal/ceres/runtime_numeric_diff_cost_function.cc
@@ -0,0 +1,217 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// Based on the templated version in public/numeric_diff_cost_function.h.
+
+#include "ceres/runtime_numeric_diff_cost_function.h"
+
+#include <algorithm>
+#include <numeric>
+#include <vector>
+#include "Eigen/Dense"
+#include "ceres/cost_function.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+namespace {
+
+bool EvaluateJacobianForParameterBlock(const CostFunction* function,
+ int parameter_block_size,
+ int parameter_block,
+ RuntimeNumericDiffMethod method,
+ double relative_step_size,
+ double const* residuals_at_eval_point,
+ double** parameters,
+ double** jacobians) {
+ using Eigen::Map;
+ using Eigen::Matrix;
+ using Eigen::Dynamic;
+ using Eigen::RowMajor;
+
+ typedef Matrix<double, Dynamic, 1> ResidualVector;
+ typedef Matrix<double, Dynamic, 1> ParameterVector;
+ typedef Matrix<double, Dynamic, Dynamic, RowMajor> JacobianMatrix;
+
+ int num_residuals = function->num_residuals();
+
+ Map<JacobianMatrix> parameter_jacobian(jacobians[parameter_block],
+ num_residuals,
+ parameter_block_size);
+
+ // Mutate one element at a time and then restore.
+ Map<ParameterVector> x_plus_delta(parameters[parameter_block],
+ parameter_block_size);
+ ParameterVector x(x_plus_delta);
+ ParameterVector step_size = x.array().abs() * relative_step_size;
+
+ // To handle cases where a paremeter is exactly zero, instead use the mean
+ // step_size for the other dimensions.
+ double fallback_step_size = step_size.sum() / step_size.rows();
+ if (fallback_step_size == 0.0) {
+ // If all the parameters are zero, there's no good answer. Use the given
+ // relative step_size as absolute step_size and hope for the best.
+ fallback_step_size = relative_step_size;
+ }
+
+ // For each parameter in the parameter block, use finite differences to
+ // compute the derivative for that parameter.
+ for (int j = 0; j < parameter_block_size; ++j) {
+ if (step_size(j) == 0.0) {
+ // The parameter is exactly zero, so compromise and use the mean step_size
+ // from the other parameters. This can break in many cases, but it's hard
+ // to pick a good number without problem specific knowledge.
+ step_size(j) = fallback_step_size;
+ }
+ x_plus_delta(j) = x(j) + step_size(j);
+
+ ResidualVector residuals(num_residuals);
+ if (!function->Evaluate(parameters, &residuals[0], NULL)) {
+ // Something went wrong; bail.
+ return false;
+ }
+
+ // Compute this column of the jacobian in 3 steps:
+ // 1. Store residuals for the forward part.
+ // 2. Subtract residuals for the backward (or 0) part.
+ // 3. Divide out the run.
+ parameter_jacobian.col(j) = residuals;
+
+ double one_over_h = 1 / step_size(j);
+ if (method == CENTRAL) {
+ // Compute the function on the other side of x(j).
+ x_plus_delta(j) = x(j) - step_size(j);
+
+ if (!function->Evaluate(parameters, &residuals[0], NULL)) {
+ // Something went wrong; bail.
+ return false;
+ }
+ parameter_jacobian.col(j) -= residuals;
+ one_over_h /= 2;
+ } else {
+ // Forward difference only; reuse existing residuals evaluation.
+ parameter_jacobian.col(j) -=
+ Map<const ResidualVector>(residuals_at_eval_point, num_residuals);
+ }
+ x_plus_delta(j) = x(j); // Restore x_plus_delta.
+
+ // Divide out the run to get slope.
+ parameter_jacobian.col(j) *= one_over_h;
+ }
+ return true;
+}
+
+class RuntimeNumericDiffCostFunction : public CostFunction {
+ public:
+ RuntimeNumericDiffCostFunction(const CostFunction* function,
+ RuntimeNumericDiffMethod method,
+ double relative_step_size)
+ : function_(function),
+ method_(method),
+ relative_step_size_(relative_step_size) {
+ *mutable_parameter_block_sizes() = function->parameter_block_sizes();
+ set_num_residuals(function->num_residuals());
+ }
+
+ virtual ~RuntimeNumericDiffCostFunction() { }
+
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ // Get the function value (residuals) at the the point to evaluate.
+ bool success = function_->Evaluate(parameters, residuals, NULL);
+ if (!success) {
+ // Something went wrong; ignore the jacobian.
+ return false;
+ }
+ if (!jacobians) {
+ // Nothing to do; just forward.
+ return true;
+ }
+
+ const vector<int16>& block_sizes = function_->parameter_block_sizes();
+ CHECK(!block_sizes.empty());
+
+ // Create local space for a copy of the parameters which will get mutated.
+ int parameters_size = accumulate(block_sizes.begin(), block_sizes.end(), 0);
+ vector<double> parameters_copy(parameters_size);
+ vector<double*> parameters_references_copy(block_sizes.size());
+ parameters_references_copy[0] = ¶meters_copy[0];
+ for (int block = 1; block < block_sizes.size(); ++block) {
+ parameters_references_copy[block] = parameters_references_copy[block - 1]
+ + block_sizes[block - 1];
+ }
+
+ // Copy the parameters into the local temp space.
+ for (int block = 0; block < block_sizes.size(); ++block) {
+ memcpy(parameters_references_copy[block],
+ parameters[block],
+ block_sizes[block] * sizeof(*parameters[block]));
+ }
+
+ for (int block = 0; block < block_sizes.size(); ++block) {
+ if (!jacobians[block]) {
+ // No jacobian requested for this parameter / residual pair.
+ continue;
+ }
+ if (!EvaluateJacobianForParameterBlock(function_,
+ block_sizes[block],
+ block,
+ method_,
+ relative_step_size_,
+ residuals,
+ ¶meters_references_copy[0],
+ jacobians)) {
+ return false;
+ }
+ }
+ return true;
+ }
+
+ private:
+ const CostFunction* function_;
+ RuntimeNumericDiffMethod method_;
+ double relative_step_size_;
+};
+
+} // namespace
+
+CostFunction* CreateRuntimeNumericDiffCostFunction(
+ const CostFunction* cost_function,
+ RuntimeNumericDiffMethod method,
+ double relative_step_size) {
+ return new RuntimeNumericDiffCostFunction(cost_function,
+ method,
+ relative_step_size);
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/runtime_numeric_diff_cost_function.h b/internal/ceres/runtime_numeric_diff_cost_function.h
new file mode 100644
index 0000000..01b57f9
--- /dev/null
+++ b/internal/ceres/runtime_numeric_diff_cost_function.h
@@ -0,0 +1,87 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// Create CostFunctions as needed by the least squares framework with jacobians
+// computed via numeric differentiation.
+//
+// To get a numerically differentiated cost function, define a subclass of
+// CostFunction such that the Evaluate() function ignores the jacobian
+// parameter. The numeric differentiation wrapper will fill in the jacobian
+// parameter if nececssary by repeatedly calling the Evaluate() function with
+// small changes to the appropriate parameters, and computing the slope. This
+// implementation is not templated (hence the "Runtime" prefix), which is a bit
+// slower than but is more convenient than the templated version in
+// numeric_diff_cost_function.h
+//
+// The numerically differentiated version of a cost function for a cost function
+// can be constructed as follows:
+//
+// CostFunction* cost_function =
+// CreateRuntimeNumericDiffCostFunction(new MyCostFunction(...),
+// CENTRAL,
+// TAKE_OWNERSHIP);
+//
+// The central difference method is considerably more accurate; consider using
+// to start and only after that works, trying forward difference.
+//
+// TODO(keir): Characterize accuracy; mention pitfalls; provide alternatives.
+
+#ifndef CERES_INTERNAL_RUNTIME_NUMERIC_DIFF_COST_FUNCTION_H_
+#define CERES_INTERNAL_RUNTIME_NUMERIC_DIFF_COST_FUNCTION_H_
+
+#include "ceres/cost_function.h"
+
+namespace ceres {
+namespace internal {
+
+enum RuntimeNumericDiffMethod {
+ CENTRAL,
+ FORWARD,
+};
+
+// Create a cost function that evaluates the derivative with finite differences.
+// The base cost_function's implementation of Evaluate() only needs to fill in
+// the "residuals" argument and not the "jacobians". Any data written to the
+// jacobians by the base cost_function is overwritten.
+//
+// Forward difference or central difference is selected with CENTRAL or FORWARD.
+// The relative eps, which determines the step size for forward and central
+// differencing, is set with relative eps. Caller owns the resulting cost
+// function, and the resulting cost function does not own the base cost
+// function.
+CostFunction *CreateRuntimeNumericDiffCostFunction(
+ const CostFunction *cost_function,
+ RuntimeNumericDiffMethod method,
+ double relative_eps);
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_RUNTIME_NUMERIC_DIFF_COST_FUNCTION_H_
diff --git a/internal/ceres/runtime_numeric_diff_cost_function_test.cc b/internal/ceres/runtime_numeric_diff_cost_function_test.cc
new file mode 100644
index 0000000..71469ea
--- /dev/null
+++ b/internal/ceres/runtime_numeric_diff_cost_function_test.cc
@@ -0,0 +1,222 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// Based on the tests in numeric_diff_cost_function.cc.
+//
+// TODO(keir): See about code duplication.
+
+#include "ceres/runtime_numeric_diff_cost_function.h"
+
+#include <algorithm>
+#include <cmath>
+#include <string>
+#include <vector>
+#include "ceres/cost_function.h"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/stringprintf.h"
+#include "ceres/test_util.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+const double kRelativeEps = 1e-6;
+
+// y1 = x1'x2 -> dy1/dx1 = x2, dy1/dx2 = x1
+// y2 = (x1'x2)^2 -> dy2/dx1 = 2 * x2 * (x1'x2), dy2/dx2 = 2 * x1 * (x1'x2)
+// y3 = x2'x2 -> dy3/dx1 = 0, dy3/dx2 = 2 * x2
+class TestCostFunction : public CostFunction {
+ public:
+ TestCostFunction() {
+ set_num_residuals(3);
+ mutable_parameter_block_sizes()->push_back(5); // x1.
+ mutable_parameter_block_sizes()->push_back(5); // x2.
+ }
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ (void) jacobians; // Ignored.
+
+ residuals[0] = residuals[1] = residuals[2] = 0;
+ for (int i = 0; i < 5; ++i) {
+ residuals[0] += parameters[0][i] * parameters[1][i];
+ residuals[2] += parameters[1][i] * parameters[1][i];
+ }
+ residuals[1] = residuals[0] * residuals[0];
+ return true;
+ }
+};
+
+TEST(NumericDiffCostFunction, EasyCase) {
+ // Try both central and forward difference.
+ TestCostFunction term;
+ scoped_ptr<CostFunction> cfs[2];
+ cfs[0].reset(
+ CreateRuntimeNumericDiffCostFunction(&term, CENTRAL, kRelativeEps));
+
+ cfs[1].reset(
+ CreateRuntimeNumericDiffCostFunction(&term, FORWARD, kRelativeEps));
+
+
+ for (int c = 0; c < 2; ++c) {
+ CostFunction *cost_function = cfs[c].get();
+
+ double x1[] = { 1.0, 2.0, 3.0, 4.0, 5.0 };
+ double x2[] = { 9.0, 9.0, 5.0, 5.0, 1.0 };
+ double *parameters[] = { &x1[0], &x2[0] };
+
+ double dydx1[15]; // 3 x 5, row major.
+ double dydx2[15]; // 3 x 5, row major.
+ double *jacobians[2] = { &dydx1[0], &dydx2[0] };
+
+ double residuals[3] = {-1e-100, -2e-100, -3e-100 };
+
+ ASSERT_TRUE(cost_function->Evaluate(¶meters[0],
+ &residuals[0],
+ &jacobians[0]));
+
+ EXPECT_EQ(residuals[0], 67);
+ EXPECT_EQ(residuals[1], 4489);
+ EXPECT_EQ(residuals[2], 213);
+
+ for (int i = 0; i < 5; ++i) {
+ LOG(INFO) << "c = " << c << " i = " << i;
+ const double kEps = c == 0 ? /* central */ 3e-9 : /* forward */ 2e-5;
+
+ ExpectClose(x2[i], dydx1[5 * 0 + i], kEps); // y1
+ ExpectClose(x1[i], dydx2[5 * 0 + i], kEps);
+ ExpectClose(2 * x2[i] * residuals[0], dydx1[5 * 1 + i], kEps); // y2
+ ExpectClose(2 * x1[i] * residuals[0], dydx2[5 * 1 + i], kEps);
+ ExpectClose(0.0, dydx1[5 * 2 + i], kEps); // y3
+ ExpectClose(2 * x2[i], dydx2[5 * 2 + i], kEps);
+ }
+ }
+}
+
+// y1 = sin(x1'x2)
+// y2 = exp(-x1'x2 / 10)
+//
+// dy1/dx1 = x2 * cos(x1'x2), dy1/dx2 = x1 * cos(x1'x2)
+// dy2/dx1 = -x2 * exp(-x1'x2 / 10) / 10, dy2/dx2 = -x2 * exp(-x1'x2 / 10) / 10
+class TranscendentalTestCostFunction : public CostFunction {
+ public:
+ TranscendentalTestCostFunction() {
+ set_num_residuals(2);
+ mutable_parameter_block_sizes()->push_back(5); // x1.
+ mutable_parameter_block_sizes()->push_back(5); // x2.
+ }
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ (void) jacobians; // Ignored.
+
+ double x1x2 = 0;
+ for (int i = 0; i < 5; ++i) {
+ x1x2 += parameters[0][i] * parameters[1][i];
+ }
+ residuals[0] = sin(x1x2);
+ residuals[1] = exp(-x1x2 / 10);
+ return true;
+ }
+};
+
+TEST(NumericDiffCostFunction, TransendentalOperationsInCostFunction) {
+ // Try both central and forward difference.
+ TranscendentalTestCostFunction term;
+ scoped_ptr<CostFunction> cfs[2];
+ cfs[0].reset(
+ CreateRuntimeNumericDiffCostFunction(&term, CENTRAL, kRelativeEps));
+
+ cfs[1].reset(
+ CreateRuntimeNumericDiffCostFunction(&term, FORWARD, kRelativeEps));
+
+ for (int c = 0; c < 2; ++c) {
+ CostFunction *cost_function = cfs[c].get();
+
+ struct {
+ double x1[5];
+ double x2[5];
+ } kTests[] = {
+ { { 1.0, 2.0, 3.0, 4.0, 5.0 }, // No zeros.
+ { 9.0, 9.0, 5.0, 5.0, 1.0 },
+ },
+ { { 0.0, 2.0, 3.0, 0.0, 5.0 }, // Some zeros x1.
+ { 9.0, 9.0, 5.0, 5.0, 1.0 },
+ },
+ { { 1.0, 2.0, 3.0, 1.0, 5.0 }, // Some zeros x2.
+ { 0.0, 9.0, 0.0, 5.0, 0.0 },
+ },
+ { { 0.0, 0.0, 0.0, 0.0, 0.0 }, // All zeros x1.
+ { 9.0, 9.0, 5.0, 5.0, 1.0 },
+ },
+ { { 1.0, 2.0, 3.0, 4.0, 5.0 }, // All zeros x2.
+ { 0.0, 0.0, 0.0, 0.0, 0.0 },
+ },
+ { { 0.0, 0.0, 0.0, 0.0, 0.0 }, // All zeros.
+ { 0.0, 0.0, 0.0, 0.0, 0.0 },
+ },
+ };
+ for (int k = 0; k < CERES_ARRAYSIZE(kTests); ++k) {
+ double *x1 = &(kTests[k].x1[0]);
+ double *x2 = &(kTests[k].x2[0]);
+ double *parameters[] = { x1, x2 };
+
+ double dydx1[10];
+ double dydx2[10];
+ double *jacobians[2] = { &dydx1[0], &dydx2[0] };
+
+ double residuals[2];
+
+ ASSERT_TRUE(cost_function->Evaluate(¶meters[0],
+ &residuals[0],
+ &jacobians[0]));
+ LOG(INFO) << "Ran evaluate for test k=" << k << " c=" << c;
+
+ double x1x2 = 0;
+ for (int i = 0; i < 5; ++i) {
+ x1x2 += x1[i] * x2[i];
+ }
+
+ for (int i = 0; i < 5; ++i) {
+ const double kEps = (c == 0 ? /* central */ 3e-9 : /* forward */ 2e-5);
+
+ ExpectClose( x2[i] * cos(x1x2), dydx1[5 * 0 + i], kEps); // NOLINT
+ ExpectClose( x1[i] * cos(x1x2), dydx2[5 * 0 + i], kEps); // NOLINT
+ ExpectClose(-x2[i] * exp(-x1x2 / 10.) / 10., dydx1[5 * 1 + i], kEps);
+ ExpectClose(-x1[i] * exp(-x1x2 / 10.) / 10., dydx2[5 * 1 + i], kEps);
+ }
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/schur_complement_solver.cc b/internal/ceres/schur_complement_solver.cc
new file mode 100644
index 0000000..9b7d4e5
--- /dev/null
+++ b/internal/ceres/schur_complement_solver.cc
@@ -0,0 +1,387 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include <algorithm>
+#include <ctime>
+#include <set>
+#include <vector>
+
+#ifndef CERES_NO_CXSPARSE
+#include "cs.h"
+#endif // CERES_NO_CXSPARSE
+
+#include "Eigen/Dense"
+#include "ceres/block_random_access_dense_matrix.h"
+#include "ceres/block_random_access_matrix.h"
+#include "ceres/block_random_access_sparse_matrix.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/block_structure.h"
+#include "ceres/detect_structure.h"
+#include "ceres/linear_solver.h"
+#include "ceres/schur_complement_solver.h"
+#include "ceres/suitesparse.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+
+
+namespace ceres {
+namespace internal {
+
+LinearSolver::Summary SchurComplementSolver::SolveImpl(
+ BlockSparseMatrixBase* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x) {
+ const time_t start_time = time(NULL);
+ if (eliminator_.get() == NULL) {
+ InitStorage(A->block_structure());
+ DetectStructure(*A->block_structure(),
+ options_.elimination_groups[0],
+ &options_.row_block_size,
+ &options_.e_block_size,
+ &options_.f_block_size);
+ eliminator_.reset(CHECK_NOTNULL(SchurEliminatorBase::Create(options_)));
+ eliminator_->Init(options_.elimination_groups[0], A->block_structure());
+ };
+ const time_t init_time = time(NULL);
+ fill(x, x + A->num_cols(), 0.0);
+
+ LinearSolver::Summary summary;
+ summary.num_iterations = 1;
+ summary.termination_type = FAILURE;
+ eliminator_->Eliminate(A, b, per_solve_options.D, lhs_.get(), rhs_.get());
+ const time_t eliminate_time = time(NULL);
+
+ double* reduced_solution = x + A->num_cols() - lhs_->num_cols();
+ const bool status = SolveReducedLinearSystem(reduced_solution);
+ const time_t solve_time = time(NULL);
+
+ if (!status) {
+ return summary;
+ }
+
+ eliminator_->BackSubstitute(A, b, per_solve_options.D, reduced_solution, x);
+ const time_t backsubstitute_time = time(NULL);
+ summary.termination_type = TOLERANCE;
+
+ VLOG(2) << "time (sec) total: " << (backsubstitute_time - start_time)
+ << " init: " << (init_time - start_time)
+ << " eliminate: " << (eliminate_time - init_time)
+ << " solve: " << (solve_time - eliminate_time)
+ << " backsubstitute: " << (backsubstitute_time - solve_time);
+ return summary;
+}
+
+// Initialize a BlockRandomAccessDenseMatrix to store the Schur
+// complement.
+void DenseSchurComplementSolver::InitStorage(
+ const CompressedRowBlockStructure* bs) {
+ const int num_eliminate_blocks = options().elimination_groups[0];
+ const int num_col_blocks = bs->cols.size();
+
+ vector<int> blocks(num_col_blocks - num_eliminate_blocks, 0);
+ for (int i = num_eliminate_blocks, j = 0;
+ i < num_col_blocks;
+ ++i, ++j) {
+ blocks[j] = bs->cols[i].size;
+ }
+
+ set_lhs(new BlockRandomAccessDenseMatrix(blocks));
+ set_rhs(new double[lhs()->num_rows()]);
+}
+
+// Solve the system Sx = r, assuming that the matrix S is stored in a
+// BlockRandomAccessDenseMatrix. The linear system is solved using
+// Eigen's Cholesky factorization.
+bool DenseSchurComplementSolver::SolveReducedLinearSystem(double* solution) {
+ const BlockRandomAccessDenseMatrix* m =
+ down_cast<const BlockRandomAccessDenseMatrix*>(lhs());
+ const int num_rows = m->num_rows();
+
+ // The case where there are no f blocks, and the system is block
+ // diagonal.
+ if (num_rows == 0) {
+ return true;
+ }
+
+ // TODO(sameeragarwal): Add proper error handling; this completely ignores
+ // the quality of the solution to the solve.
+ VectorRef(solution, num_rows) =
+ ConstMatrixRef(m->values(), num_rows, num_rows)
+ .selfadjointView<Eigen::Upper>()
+ .ldlt()
+ .solve(ConstVectorRef(rhs(), num_rows));
+
+ return true;
+}
+
+
+SparseSchurComplementSolver::SparseSchurComplementSolver(
+ const LinearSolver::Options& options)
+ : SchurComplementSolver(options) {
+#ifndef CERES_NO_SUITESPARSE
+ factor_ = NULL;
+#endif // CERES_NO_SUITESPARSE
+
+#ifndef CERES_NO_CXSPARSE
+ cxsparse_factor_ = NULL;
+#endif // CERES_NO_CXSPARSE
+}
+
+SparseSchurComplementSolver::~SparseSchurComplementSolver() {
+#ifndef CERES_NO_SUITESPARSE
+ if (factor_ != NULL) {
+ ss_.Free(factor_);
+ factor_ = NULL;
+ }
+#endif // CERES_NO_SUITESPARSE
+
+#ifndef CERES_NO_CXSPARSE
+ if (cxsparse_factor_ != NULL) {
+ cxsparse_.Free(cxsparse_factor_);
+ cxsparse_factor_ = NULL;
+ }
+#endif // CERES_NO_CXSPARSE
+}
+
+// Determine the non-zero blocks in the Schur Complement matrix, and
+// initialize a BlockRandomAccessSparseMatrix object.
+void SparseSchurComplementSolver::InitStorage(
+ const CompressedRowBlockStructure* bs) {
+ const int num_eliminate_blocks = options().elimination_groups[0];
+ const int num_col_blocks = bs->cols.size();
+ const int num_row_blocks = bs->rows.size();
+
+ blocks_.resize(num_col_blocks - num_eliminate_blocks, 0);
+ for (int i = num_eliminate_blocks; i < num_col_blocks; ++i) {
+ blocks_[i - num_eliminate_blocks] = bs->cols[i].size;
+ }
+
+ set<pair<int, int> > block_pairs;
+ for (int i = 0; i < blocks_.size(); ++i) {
+ block_pairs.insert(make_pair(i, i));
+ }
+
+ int r = 0;
+ while (r < num_row_blocks) {
+ int e_block_id = bs->rows[r].cells.front().block_id;
+ if (e_block_id >= num_eliminate_blocks) {
+ break;
+ }
+ vector<int> f_blocks;
+
+ // Add to the chunk until the first block in the row is
+ // different than the one in the first row for the chunk.
+ for (; r < num_row_blocks; ++r) {
+ const CompressedRow& row = bs->rows[r];
+ if (row.cells.front().block_id != e_block_id) {
+ break;
+ }
+
+ // Iterate over the blocks in the row, ignoring the first
+ // block since it is the one to be eliminated.
+ for (int c = 1; c < row.cells.size(); ++c) {
+ const Cell& cell = row.cells[c];
+ f_blocks.push_back(cell.block_id - num_eliminate_blocks);
+ }
+ }
+
+ sort(f_blocks.begin(), f_blocks.end());
+ f_blocks.erase(unique(f_blocks.begin(), f_blocks.end()), f_blocks.end());
+ for (int i = 0; i < f_blocks.size(); ++i) {
+ for (int j = i + 1; j < f_blocks.size(); ++j) {
+ block_pairs.insert(make_pair(f_blocks[i], f_blocks[j]));
+ }
+ }
+ }
+
+ // Remaing rows do not contribute to the chunks and directly go
+ // into the schur complement via an outer product.
+ for (; r < num_row_blocks; ++r) {
+ const CompressedRow& row = bs->rows[r];
+ CHECK_GE(row.cells.front().block_id, num_eliminate_blocks);
+ for (int i = 0; i < row.cells.size(); ++i) {
+ int r_block1_id = row.cells[i].block_id - num_eliminate_blocks;
+ for (int j = 0; j < row.cells.size(); ++j) {
+ int r_block2_id = row.cells[j].block_id - num_eliminate_blocks;
+ if (r_block1_id <= r_block2_id) {
+ block_pairs.insert(make_pair(r_block1_id, r_block2_id));
+ }
+ }
+ }
+ }
+
+ set_lhs(new BlockRandomAccessSparseMatrix(blocks_, block_pairs));
+ set_rhs(new double[lhs()->num_rows()]);
+}
+
+bool SparseSchurComplementSolver::SolveReducedLinearSystem(double* solution) {
+ switch (options().sparse_linear_algebra_library) {
+ case SUITE_SPARSE:
+ return SolveReducedLinearSystemUsingSuiteSparse(solution);
+ case CX_SPARSE:
+ return SolveReducedLinearSystemUsingCXSparse(solution);
+ default:
+ LOG(FATAL) << "Unknown sparse linear algebra library : "
+ << options().sparse_linear_algebra_library;
+ }
+
+ LOG(FATAL) << "Unknown sparse linear algebra library : "
+ << options().sparse_linear_algebra_library;
+ return false;
+}
+
+#ifndef CERES_NO_SUITESPARSE
+// Solve the system Sx = r, assuming that the matrix S is stored in a
+// BlockRandomAccessSparseMatrix. The linear system is solved using
+// CHOLMOD's sparse cholesky factorization routines.
+bool SparseSchurComplementSolver::SolveReducedLinearSystemUsingSuiteSparse(
+ double* solution) {
+ const time_t start_time = time(NULL);
+
+ TripletSparseMatrix* tsm =
+ const_cast<TripletSparseMatrix*>(
+ down_cast<const BlockRandomAccessSparseMatrix*>(lhs())->matrix());
+
+ const int num_rows = tsm->num_rows();
+
+ // The case where there are no f blocks, and the system is block
+ // diagonal.
+ if (num_rows == 0) {
+ return true;
+ }
+
+ cholmod_sparse* cholmod_lhs = ss_.CreateSparseMatrix(tsm);
+ // The matrix is symmetric, and the upper triangular part of the
+ // matrix contains the values.
+ cholmod_lhs->stype = 1;
+ const time_t lhs_time = time(NULL);
+
+ cholmod_dense* cholmod_rhs =
+ ss_.CreateDenseVector(const_cast<double*>(rhs()), num_rows, num_rows);
+ const time_t rhs_time = time(NULL);
+
+ // Symbolic factorization is computed if we don't already have one handy.
+ if (factor_ == NULL) {
+ if (options().use_block_amd) {
+ factor_ = ss_.BlockAnalyzeCholesky(cholmod_lhs, blocks_, blocks_);
+ } else {
+ factor_ = ss_.AnalyzeCholesky(cholmod_lhs);
+ }
+
+ if (VLOG_IS_ON(2)) {
+ cholmod_print_common("Symbolic Analysis", ss_.mutable_cc());
+ }
+ }
+
+ CHECK_NOTNULL(factor_);
+
+ const time_t symbolic_time = time(NULL);
+ cholmod_dense* cholmod_solution =
+ ss_.SolveCholesky(cholmod_lhs, factor_, cholmod_rhs);
+
+ const time_t solve_time = time(NULL);
+
+ ss_.Free(cholmod_lhs);
+ cholmod_lhs = NULL;
+ ss_.Free(cholmod_rhs);
+ cholmod_rhs = NULL;
+
+ if (cholmod_solution == NULL) {
+ LOG(WARNING) << "CHOLMOD solve failed.";
+ return false;
+ }
+
+ VectorRef(solution, num_rows)
+ = VectorRef(static_cast<double*>(cholmod_solution->x), num_rows);
+ ss_.Free(cholmod_solution);
+ const time_t final_time = time(NULL);
+ VLOG(2) << "time: " << (final_time - start_time)
+ << " lhs : " << (lhs_time - start_time)
+ << " rhs: " << (rhs_time - lhs_time)
+ << " analyze: " << (symbolic_time - rhs_time)
+ << " factor_and_solve: " << (solve_time - symbolic_time)
+ << " cleanup: " << (final_time - solve_time);
+ return true;
+}
+#else
+bool SparseSchurComplementSolver::SolveReducedLinearSystemUsingSuiteSparse(
+ double* solution) {
+ LOG(FATAL) << "No SuiteSparse support in Ceres.";
+ return false;
+}
+#endif // CERES_NO_SUITESPARSE
+
+#ifndef CERES_NO_CXSPARSE
+// Solve the system Sx = r, assuming that the matrix S is stored in a
+// BlockRandomAccessSparseMatrix. The linear system is solved using
+// CXSparse's sparse cholesky factorization routines.
+bool SparseSchurComplementSolver::SolveReducedLinearSystemUsingCXSparse(
+ double* solution) {
+ // Extract the TripletSparseMatrix that is used for actually storing S.
+ TripletSparseMatrix* tsm =
+ const_cast<TripletSparseMatrix*>(
+ down_cast<const BlockRandomAccessSparseMatrix*>(lhs())->matrix());
+
+ const int num_rows = tsm->num_rows();
+
+ // The case where there are no f blocks, and the system is block
+ // diagonal.
+ if (num_rows == 0) {
+ return true;
+ }
+
+ cs_di* lhs = CHECK_NOTNULL(cxsparse_.CreateSparseMatrix(tsm));
+ VectorRef(solution, num_rows) = ConstVectorRef(rhs(), num_rows);
+
+ // Compute symbolic factorization if not available.
+ if (cxsparse_factor_ == NULL) {
+ cxsparse_factor_ = CHECK_NOTNULL(cxsparse_.AnalyzeCholesky(lhs));
+ }
+
+ // Solve the linear system.
+ bool ok = cxsparse_.SolveCholesky(lhs, cxsparse_factor_, solution);
+
+ cxsparse_.Free(lhs);
+ return ok;
+}
+#else
+bool SparseSchurComplementSolver::SolveReducedLinearSystemUsingCXSparse(
+ double* solution) {
+ LOG(FATAL) << "No CXSparse support in Ceres.";
+ return false;
+}
+#endif // CERES_NO_CXPARSE
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/schur_complement_solver.h b/internal/ceres/schur_complement_solver.h
new file mode 100644
index 0000000..c382f95
--- /dev/null
+++ b/internal/ceres/schur_complement_solver.h
@@ -0,0 +1,187 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_SCHUR_COMPLEMENT_SOLVER_H_
+#define CERES_INTERNAL_SCHUR_COMPLEMENT_SOLVER_H_
+
+#include <set>
+#include <utility>
+
+#include "ceres/block_random_access_matrix.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/block_structure.h"
+#include "ceres/cxsparse.h"
+#include "ceres/linear_solver.h"
+#include "ceres/schur_eliminator.h"
+#include "ceres/suitesparse.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+class BlockSparseMatrixBase;
+
+// Base class for Schur complement based linear least squares
+// solvers. It assumes that the input linear system Ax = b can be
+// partitioned into
+//
+// E y + F z = b
+//
+// Where x = [y;z] is a partition of the variables. The paritioning
+// of the variables is such that, E'E is a block diagonal
+// matrix. Further, the rows of A are ordered so that for every
+// variable block in y, all the rows containing that variable block
+// occur as a vertically contiguous block. i.e the matrix A looks like
+//
+// E F
+// A = [ y1 0 0 0 | z1 0 0 0 z5]
+// [ y1 0 0 0 | z1 z2 0 0 0]
+// [ 0 y2 0 0 | 0 0 z3 0 0]
+// [ 0 0 y3 0 | z1 z2 z3 z4 z5]
+// [ 0 0 y3 0 | z1 0 0 0 z5]
+// [ 0 0 0 y4 | 0 0 0 0 z5]
+// [ 0 0 0 y4 | 0 z2 0 0 0]
+// [ 0 0 0 y4 | 0 0 0 0 0]
+// [ 0 0 0 0 | z1 0 0 0 0]
+// [ 0 0 0 0 | 0 0 z3 z4 z5]
+//
+// This structure should be reflected in the corresponding
+// CompressedRowBlockStructure object associated with A. The linear
+// system Ax = b should either be well posed or the array D below
+// should be non-null and the diagonal matrix corresponding to it
+// should be non-singular.
+//
+// SchurComplementSolver has two sub-classes.
+//
+// DenseSchurComplementSolver: For problems where the Schur complement
+// matrix is small and dense, or if CHOLMOD/SuiteSparse is not
+// installed. For structure from motion problems, this is solver can
+// be used for problems with upto a few hundred cameras.
+//
+// SparseSchurComplementSolver: For problems where the Schur
+// complement matrix is large and sparse. It requires that
+// CHOLMOD/SuiteSparse be installed, as it uses CHOLMOD to find a
+// sparse Cholesky factorization of the Schur complement. This solver
+// can be used for solving structure from motion problems with tens of
+// thousands of cameras, though depending on the exact sparsity
+// structure, it maybe better to use an iterative solver.
+//
+// The two solvers can be instantiated by calling
+// LinearSolver::CreateLinearSolver with LinearSolver::Options::type
+// set to DENSE_SCHUR and SPARSE_SCHUR
+// respectively. LinearSolver::Options::elimination_groups[0] should be
+// at least 1.
+class SchurComplementSolver : public BlockSparseMatrixBaseSolver {
+ public:
+ explicit SchurComplementSolver(const LinearSolver::Options& options)
+ : options_(options) {
+ CHECK_GT(options.elimination_groups.size(), 1);
+ CHECK_GT(options.elimination_groups[0], 0);
+ }
+
+ // LinearSolver methods
+ virtual ~SchurComplementSolver() {}
+ virtual LinearSolver::Summary SolveImpl(
+ BlockSparseMatrixBase* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double* x);
+
+ protected:
+ const LinearSolver::Options& options() const { return options_; }
+
+ const BlockRandomAccessMatrix* lhs() const { return lhs_.get(); }
+ void set_lhs(BlockRandomAccessMatrix* lhs) { lhs_.reset(lhs); }
+ const double* rhs() const { return rhs_.get(); }
+ void set_rhs(double* rhs) { rhs_.reset(rhs); }
+
+ private:
+ virtual void InitStorage(const CompressedRowBlockStructure* bs) = 0;
+ virtual bool SolveReducedLinearSystem(double* solution) = 0;
+
+ LinearSolver::Options options_;
+
+ scoped_ptr<SchurEliminatorBase> eliminator_;
+ scoped_ptr<BlockRandomAccessMatrix> lhs_;
+ scoped_array<double> rhs_;
+
+ CERES_DISALLOW_COPY_AND_ASSIGN(SchurComplementSolver);
+};
+
+// Dense Cholesky factorization based solver.
+class DenseSchurComplementSolver : public SchurComplementSolver {
+ public:
+ explicit DenseSchurComplementSolver(const LinearSolver::Options& options)
+ : SchurComplementSolver(options) {}
+ virtual ~DenseSchurComplementSolver() {}
+
+ private:
+ virtual void InitStorage(const CompressedRowBlockStructure* bs);
+ virtual bool SolveReducedLinearSystem(double* solution);
+
+ CERES_DISALLOW_COPY_AND_ASSIGN(DenseSchurComplementSolver);
+};
+
+
+// Sparse Cholesky factorization based solver.
+class SparseSchurComplementSolver : public SchurComplementSolver {
+ public:
+ explicit SparseSchurComplementSolver(const LinearSolver::Options& options);
+ virtual ~SparseSchurComplementSolver();
+
+ private:
+ virtual void InitStorage(const CompressedRowBlockStructure* bs);
+ virtual bool SolveReducedLinearSystem(double* solution);
+ bool SolveReducedLinearSystemUsingSuiteSparse(double* solution);
+ bool SolveReducedLinearSystemUsingCXSparse(double* solution);
+
+ // Size of the blocks in the Schur complement.
+ vector<int> blocks_;
+
+#ifndef CERES_NO_SUITESPARSE
+ SuiteSparse ss_;
+ // Symbolic factorization of the reduced linear system. Precomputed
+ // once and reused in subsequent calls.
+ cholmod_factor* factor_;
+#endif // CERES_NO_SUITESPARSE
+
+#ifndef CERES_NO_CXSPARSE
+ CXSparse cxsparse_;
+ // Cached factorization
+ cs_dis* cxsparse_factor_;
+#endif // CERES_NO_CXSPARSE
+ CERES_DISALLOW_COPY_AND_ASSIGN(SparseSchurComplementSolver);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_SCHUR_COMPLEMENT_SOLVER_H_
diff --git a/internal/ceres/schur_complement_solver_test.cc b/internal/ceres/schur_complement_solver_test.cc
new file mode 100644
index 0000000..71c6cfd
--- /dev/null
+++ b/internal/ceres/schur_complement_solver_test.cc
@@ -0,0 +1,168 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include <cstddef>
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/block_structure.h"
+#include "ceres/casts.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/linear_solver.h"
+#include "ceres/schur_complement_solver.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+class SchurComplementSolverTest : public ::testing::Test {
+ protected:
+ void SetUpFromProblemId(int problem_id) {
+ scoped_ptr<LinearLeastSquaresProblem> problem(
+ CreateLinearLeastSquaresProblemFromId(problem_id));
+
+ CHECK_NOTNULL(problem.get());
+ A.reset(down_cast<BlockSparseMatrix*>(problem->A.release()));
+ b.reset(problem->b.release());
+ D.reset(problem->D.release());
+
+ num_cols = A->num_cols();
+ num_rows = A->num_rows();
+ num_eliminate_blocks = problem->num_eliminate_blocks;
+
+ x.reset(new double[num_cols]);
+ sol.reset(new double[num_cols]);
+ sol_d.reset(new double[num_cols]);
+
+ LinearSolver::Options options;
+ options.type = DENSE_QR;
+
+ scoped_ptr<LinearSolver> qr(LinearSolver::Create(options));
+
+ TripletSparseMatrix triplet_A(A->num_rows(),
+ A->num_cols(),
+ A->num_nonzeros());
+ A->ToTripletSparseMatrix(&triplet_A);
+
+ // Gold standard solutions using dense QR factorization.
+ DenseSparseMatrix dense_A(triplet_A);
+ LinearSolver::Summary summary1 =
+ qr->Solve(&dense_A,
+ b.get(),
+ LinearSolver::PerSolveOptions(),
+ sol.get());
+
+ // Gold standard solution with appended diagonal.
+ LinearSolver::PerSolveOptions per_solve_options;
+ per_solve_options.D = D.get();
+ LinearSolver::Summary summary2 =
+ qr->Solve(&dense_A,
+ b.get(),
+ per_solve_options,
+ sol_d.get());
+ }
+
+ void ComputeAndCompareSolutions(
+ int problem_id,
+ bool regularization,
+ ceres::LinearSolverType linear_solver_type,
+ ceres::SparseLinearAlgebraLibraryType sparse_linear_algebra_library) {
+ SetUpFromProblemId(problem_id);
+ LinearSolver::Options options;
+ options.elimination_groups.push_back(num_eliminate_blocks);
+ options.elimination_groups.push_back(
+ A->block_structure()->cols.size() - num_eliminate_blocks);
+ options.type = linear_solver_type;
+ options.sparse_linear_algebra_library = sparse_linear_algebra_library;
+
+ scoped_ptr<LinearSolver> solver(LinearSolver::Create(options));
+
+ LinearSolver::PerSolveOptions per_solve_options;
+ LinearSolver::Summary summary;
+ if (regularization) {
+ per_solve_options.D = D.get();
+ }
+
+ summary = solver->Solve(A.get(), b.get(), per_solve_options, x.get());
+
+ if (regularization) {
+ for (int i = 0; i < num_cols; ++i) {
+ ASSERT_NEAR(sol_d.get()[i], x[i], 1e-10);
+ }
+ } else {
+ for (int i = 0; i < num_cols; ++i) {
+ ASSERT_NEAR(sol.get()[i], x[i], 1e-10);
+ }
+ }
+ }
+
+ int num_rows;
+ int num_cols;
+ int num_eliminate_blocks;
+
+ scoped_ptr<BlockSparseMatrix> A;
+ scoped_array<double> b;
+ scoped_array<double> x;
+ scoped_array<double> D;
+ scoped_array<double> sol;
+ scoped_array<double> sol_d;
+};
+
+#ifndef CERES_NO_SUITESPARSE
+TEST_F(SchurComplementSolverTest, SparseSchurWithSuiteSparse) {
+ ComputeAndCompareSolutions(2, false, SPARSE_SCHUR, SUITE_SPARSE);
+ ComputeAndCompareSolutions(3, false, SPARSE_SCHUR, SUITE_SPARSE);
+ ComputeAndCompareSolutions(2, true, SPARSE_SCHUR, SUITE_SPARSE);
+ ComputeAndCompareSolutions(3, true, SPARSE_SCHUR, SUITE_SPARSE);
+}
+#endif // CERES_NO_SUITESPARSE
+
+#ifndef CERES_NO_CXSPARSE
+TEST_F(SchurComplementSolverTest, SparseSchurWithCXSparse) {
+ ComputeAndCompareSolutions(2, false, SPARSE_SCHUR, CX_SPARSE);
+ ComputeAndCompareSolutions(3, false, SPARSE_SCHUR, CX_SPARSE);
+ ComputeAndCompareSolutions(2, true, SPARSE_SCHUR, CX_SPARSE);
+ ComputeAndCompareSolutions(3, true, SPARSE_SCHUR, CX_SPARSE);
+}
+#endif // CERES_NO_CXSPARSE
+
+TEST_F(SchurComplementSolverTest, DenseSchur) {
+ // The sparse linear algebra library type is ignored for
+ // DENSE_SCHUR.
+ ComputeAndCompareSolutions(2, false, DENSE_SCHUR, SUITE_SPARSE);
+ ComputeAndCompareSolutions(3, false, DENSE_SCHUR, SUITE_SPARSE);
+ ComputeAndCompareSolutions(2, true, DENSE_SCHUR, SUITE_SPARSE);
+ ComputeAndCompareSolutions(3, true, DENSE_SCHUR, SUITE_SPARSE);
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/schur_eliminator.cc b/internal/ceres/schur_eliminator.cc
new file mode 100644
index 0000000..44f5be3
--- /dev/null
+++ b/internal/ceres/schur_eliminator.cc
@@ -0,0 +1,141 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// ========================================
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+// THIS FILE IS AUTOGENERATED. DO NOT EDIT.
+//=========================================
+//
+// This file is generated using generate_template_specializations.py.
+// Editing it manually is not recommended.
+
+#include "ceres/linear_solver.h"
+#include "ceres/schur_eliminator.h"
+#include "ceres/internal/eigen.h"
+
+namespace ceres {
+namespace internal {
+
+SchurEliminatorBase*
+SchurEliminatorBase::Create(const LinearSolver::Options& options) {
+#ifndef CERES_RESTRICT_SCHUR_SPECIALIZATION
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 2) &&
+ (options.f_block_size == 2)) {
+ return new SchurEliminator<2, 2, 2>(options);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 2) &&
+ (options.f_block_size == 3)) {
+ return new SchurEliminator<2, 2, 3>(options);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 2) &&
+ (options.f_block_size == 4)) {
+ return new SchurEliminator<2, 2, 4>(options);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 2) &&
+ (options.f_block_size == Dynamic)) {
+ return new SchurEliminator<2, 2, Dynamic>(options);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 3) &&
+ (options.f_block_size == 3)) {
+ return new SchurEliminator<2, 3, 3>(options);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 3) &&
+ (options.f_block_size == 4)) {
+ return new SchurEliminator<2, 3, 4>(options);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 3) &&
+ (options.f_block_size == 9)) {
+ return new SchurEliminator<2, 3, 9>(options);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 3) &&
+ (options.f_block_size == Dynamic)) {
+ return new SchurEliminator<2, 3, Dynamic>(options);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 4) &&
+ (options.f_block_size == 3)) {
+ return new SchurEliminator<2, 4, 3>(options);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 4) &&
+ (options.f_block_size == 4)) {
+ return new SchurEliminator<2, 4, 4>(options);
+ }
+ if ((options.row_block_size == 2) &&
+ (options.e_block_size == 4) &&
+ (options.f_block_size == Dynamic)) {
+ return new SchurEliminator<2, 4, Dynamic>(options);
+ }
+ if ((options.row_block_size == 4) &&
+ (options.e_block_size == 4) &&
+ (options.f_block_size == 2)) {
+ return new SchurEliminator<4, 4, 2>(options);
+ }
+ if ((options.row_block_size == 4) &&
+ (options.e_block_size == 4) &&
+ (options.f_block_size == 3)) {
+ return new SchurEliminator<4, 4, 3>(options);
+ }
+ if ((options.row_block_size == 4) &&
+ (options.e_block_size == 4) &&
+ (options.f_block_size == 4)) {
+ return new SchurEliminator<4, 4, 4>(options);
+ }
+ if ((options.row_block_size == 4) &&
+ (options.e_block_size == 4) &&
+ (options.f_block_size == Dynamic)) {
+ return new SchurEliminator<4, 4, Dynamic>(options);
+ }
+ if ((options.row_block_size == Dynamic) &&
+ (options.e_block_size == Dynamic) &&
+ (options.f_block_size == Dynamic)) {
+ return new SchurEliminator<Dynamic, Dynamic, Dynamic>(options);
+ }
+
+#endif
+ VLOG(1) << "Template specializations not found for <"
+ << options.row_block_size << ","
+ << options.e_block_size << ","
+ << options.f_block_size << ">";
+ return new SchurEliminator<Dynamic, Dynamic, Dynamic>(options);
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/schur_eliminator.h b/internal/ceres/schur_eliminator.h
new file mode 100644
index 0000000..c24fe43
--- /dev/null
+++ b/internal/ceres/schur_eliminator.h
@@ -0,0 +1,339 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_SCHUR_ELIMINATOR_H_
+#define CERES_INTERNAL_SCHUR_ELIMINATOR_H_
+
+#include <map>
+#include <vector>
+#include "ceres/mutex.h"
+#include "ceres/block_random_access_matrix.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/block_structure.h"
+#include "ceres/linear_solver.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+// Classes implementing the SchurEliminatorBase interface implement
+// variable elimination for linear least squares problems. Assuming
+// that the input linear system Ax = b can be partitioned into
+//
+// E y + F z = b
+//
+// Where x = [y;z] is a partition of the variables. The paritioning
+// of the variables is such that, E'E is a block diagonal matrix. Or
+// in other words, the parameter blocks in E form an independent set
+// of the of the graph implied by the block matrix A'A. Then, this
+// class provides the functionality to compute the Schur complement
+// system
+//
+// S z = r
+//
+// where
+//
+// S = F'F - F'E (E'E)^{-1} E'F and r = F'b - F'E(E'E)^(-1) E'b
+//
+// This is the Eliminate operation, i.e., construct the linear system
+// obtained by eliminating the variables in E.
+//
+// The eliminator also provides the reverse functionality, i.e. given
+// values for z it can back substitute for the values of y, by solving the
+// linear system
+//
+// Ey = b - F z
+//
+// which is done by observing that
+//
+// y = (E'E)^(-1) [E'b - E'F z]
+//
+// The eliminator has a number of requirements.
+//
+// The rows of A are ordered so that for every variable block in y,
+// all the rows containing that variable block occur as a vertically
+// contiguous block. i.e the matrix A looks like
+//
+// E F chunk
+// A = [ y1 0 0 0 | z1 0 0 0 z5] 1
+// [ y1 0 0 0 | z1 z2 0 0 0] 1
+// [ 0 y2 0 0 | 0 0 z3 0 0] 2
+// [ 0 0 y3 0 | z1 z2 z3 z4 z5] 3
+// [ 0 0 y3 0 | z1 0 0 0 z5] 3
+// [ 0 0 0 y4 | 0 0 0 0 z5] 4
+// [ 0 0 0 y4 | 0 z2 0 0 0] 4
+// [ 0 0 0 y4 | 0 0 0 0 0] 4
+// [ 0 0 0 0 | z1 0 0 0 0] non chunk blocks
+// [ 0 0 0 0 | 0 0 z3 z4 z5] non chunk blocks
+//
+// This structure should be reflected in the corresponding
+// CompressedRowBlockStructure object associated with A. The linear
+// system Ax = b should either be well posed or the array D below
+// should be non-null and the diagonal matrix corresponding to it
+// should be non-singular. For simplicity of exposition only the case
+// with a null D is described.
+//
+// The usual way to do the elimination is as follows. Starting with
+//
+// E y + F z = b
+//
+// we can form the normal equations,
+//
+// E'E y + E'F z = E'b
+// F'E y + F'F z = F'b
+//
+// multiplying both sides of the first equation by (E'E)^(-1) and then
+// by F'E we get
+//
+// F'E y + F'E (E'E)^(-1) E'F z = F'E (E'E)^(-1) E'b
+// F'E y + F'F z = F'b
+//
+// now subtracting the two equations we get
+//
+// [FF' - F'E (E'E)^(-1) E'F] z = F'b - F'E(E'E)^(-1) E'b
+//
+// Instead of forming the normal equations and operating on them as
+// general sparse matrices, the algorithm here deals with one
+// parameter block in y at a time. The rows corresponding to a single
+// parameter block yi are known as a chunk, and the algorithm operates
+// on one chunk at a time. The mathematics remains the same since the
+// reduced linear system can be shown to be the sum of the reduced
+// linear systems for each chunk. This can be seen by observing two
+// things.
+//
+// 1. E'E is a block diagonal matrix.
+//
+// 2. When E'F is computed, only the terms within a single chunk
+// interact, i.e for y1 column blocks when transposed and multiplied
+// with F, the only non-zero contribution comes from the blocks in
+// chunk1.
+//
+// Thus, the reduced linear system
+//
+// FF' - F'E (E'E)^(-1) E'F
+//
+// can be re-written as
+//
+// sum_k F_k F_k' - F_k'E_k (E_k'E_k)^(-1) E_k' F_k
+//
+// Where the sum is over chunks and E_k'E_k is dense matrix of size y1
+// x y1.
+//
+// Advanced usage. Uptil now it has been assumed that the user would
+// be interested in all of the Schur Complement S. However, it is also
+// possible to use this eliminator to obtain an arbitrary submatrix of
+// the full Schur complement. When the eliminator is generating the
+// blocks of S, it asks the RandomAccessBlockMatrix instance passed to
+// it if it has storage for that block. If it does, the eliminator
+// computes/updates it, if not it is skipped. This is useful when one
+// is interested in constructing a preconditioner based on the Schur
+// Complement, e.g., computing the block diagonal of S so that it can
+// be used as a preconditioner for an Iterative Substructuring based
+// solver [See Agarwal et al, Bundle Adjustment in the Large, ECCV
+// 2008 for an example of such use].
+//
+// Example usage: Please see schur_complement_solver.cc
+class SchurEliminatorBase {
+ public:
+ virtual ~SchurEliminatorBase() {}
+
+ // Initialize the eliminator. It is the user's responsibilty to call
+ // this function before calling Eliminate or BackSubstitute. It is
+ // also the caller's responsibilty to ensure that the
+ // CompressedRowBlockStructure object passed to this method is the
+ // same one (or is equivalent to) the one associated with the
+ // BlockSparseMatrixBase objects below.
+ virtual void Init(int num_eliminate_blocks,
+ const CompressedRowBlockStructure* bs) = 0;
+
+ // Compute the Schur complement system from the augmented linear
+ // least squares problem [A;D] x = [b;0]. The left hand side and the
+ // right hand side of the reduced linear system are returned in lhs
+ // and rhs respectively.
+ //
+ // It is the caller's responsibility to construct and initialize
+ // lhs. Depending upon the structure of the lhs object passed here,
+ // the full or a submatrix of the Schur complement will be computed.
+ //
+ // Since the Schur complement is a symmetric matrix, only the upper
+ // triangular part of the Schur complement is computed.
+ virtual void Eliminate(const BlockSparseMatrixBase* A,
+ const double* b,
+ const double* D,
+ BlockRandomAccessMatrix* lhs,
+ double* rhs) = 0;
+
+ // Given values for the variables z in the F block of A, solve for
+ // the optimal values of the variables y corresponding to the E
+ // block in A.
+ virtual void BackSubstitute(const BlockSparseMatrixBase* A,
+ const double* b,
+ const double* D,
+ const double* z,
+ double* y) = 0;
+ // Factory
+ static SchurEliminatorBase* Create(const LinearSolver::Options& options);
+};
+
+// Templated implementation of the SchurEliminatorBase interface. The
+// templating is on the sizes of the row, e and f blocks sizes in the
+// input matrix. In many problems, the sizes of one or more of these
+// blocks are constant, in that case, its worth passing these
+// parameters as template arguments so that they are visible to the
+// compiler and can be used for compile time optimization of the low
+// level linear algebra routines.
+//
+// This implementation is mulithreaded using OpenMP. The level of
+// parallelism is controlled by LinearSolver::Options::num_threads.
+template <int kRowBlockSize = Dynamic,
+ int kEBlockSize = Dynamic,
+ int kFBlockSize = Dynamic >
+class SchurEliminator : public SchurEliminatorBase {
+ public:
+ explicit SchurEliminator(const LinearSolver::Options& options)
+ : num_threads_(options.num_threads) {
+ }
+
+ // SchurEliminatorBase Interface
+ virtual ~SchurEliminator();
+ virtual void Init(int num_eliminate_blocks,
+ const CompressedRowBlockStructure* bs);
+ virtual void Eliminate(const BlockSparseMatrixBase* A,
+ const double* b,
+ const double* D,
+ BlockRandomAccessMatrix* lhs,
+ double* rhs);
+ virtual void BackSubstitute(const BlockSparseMatrixBase* A,
+ const double* b,
+ const double* D,
+ const double* z,
+ double* y);
+
+ private:
+ // Chunk objects store combinatorial information needed to
+ // efficiently eliminate a whole chunk out of the least squares
+ // problem. Consider the first chunk in the example matrix above.
+ //
+ // [ y1 0 0 0 | z1 0 0 0 z5]
+ // [ y1 0 0 0 | z1 z2 0 0 0]
+ //
+ // One of the intermediate quantities that needs to be calculated is
+ // for each row the product of the y block transposed with the
+ // non-zero z block, and the sum of these blocks across rows. A
+ // temporary array "buffer_" is used for computing and storing them
+ // and the buffer_layout maps the indices of the z-blocks to
+ // position in the buffer_ array. The size of the chunk is the
+ // number of row blocks/residual blocks for the particular y block
+ // being considered.
+ //
+ // For the example chunk shown above,
+ //
+ // size = 2
+ //
+ // The entries of buffer_layout will be filled in the following order.
+ //
+ // buffer_layout[z1] = 0
+ // buffer_layout[z5] = y1 * z1
+ // buffer_layout[z2] = y1 * z1 + y1 * z5
+ typedef map<int, int> BufferLayoutType;
+ struct Chunk {
+ Chunk() : size(0) {}
+ int size;
+ int start;
+ BufferLayoutType buffer_layout;
+ };
+
+ void ChunkDiagonalBlockAndGradient(
+ const Chunk& chunk,
+ const BlockSparseMatrixBase* A,
+ const double* b,
+ int row_block_counter,
+ typename EigenTypes<kEBlockSize, kEBlockSize>::Matrix* eet,
+ typename EigenTypes<kEBlockSize>::Vector* g,
+ double* buffer,
+ BlockRandomAccessMatrix* lhs);
+
+ void UpdateRhs(const Chunk& chunk,
+ const BlockSparseMatrixBase* A,
+ const double* b,
+ int row_block_counter,
+ const Vector& inverse_ete_g,
+ double* rhs);
+
+ void ChunkOuterProduct(const CompressedRowBlockStructure* bs,
+ const Matrix& inverse_eet,
+ const double* buffer,
+ const BufferLayoutType& buffer_layout,
+ BlockRandomAccessMatrix* lhs);
+ void EBlockRowOuterProduct(const BlockSparseMatrixBase* A,
+ int row_block_index,
+ BlockRandomAccessMatrix* lhs);
+
+
+ void NoEBlockRowsUpdate(const BlockSparseMatrixBase* A,
+ const double* b,
+ int row_block_counter,
+ BlockRandomAccessMatrix* lhs,
+ double* rhs);
+
+ void NoEBlockRowOuterProduct(const BlockSparseMatrixBase* A,
+ int row_block_index,
+ BlockRandomAccessMatrix* lhs);
+
+ int num_eliminate_blocks_;
+
+ // Block layout of the columns of the reduced linear system. Since
+ // the f blocks can be of varying size, this vector stores the
+ // position of each f block in the row/col of the reduced linear
+ // system. Thus lhs_row_layout_[i] is the row/col position of the
+ // i^th f block.
+ vector<int> lhs_row_layout_;
+
+ // Combinatorial structure of the chunks in A. For more information
+ // see the documentation of the Chunk object above.
+ vector<Chunk> chunks_;
+
+ // Buffer to store the products of the y and z blocks generated
+ // during the elimination phase.
+ scoped_array<double> buffer_;
+ int buffer_size_;
+ int num_threads_;
+ int uneliminated_row_begins_;
+
+ // Locks for the blocks in the right hand side of the reduced linear
+ // system.
+ vector<Mutex*> rhs_locks_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_SCHUR_ELIMINATOR_H_
diff --git a/internal/ceres/schur_eliminator_impl.h b/internal/ceres/schur_eliminator_impl.h
new file mode 100644
index 0000000..6120db9
--- /dev/null
+++ b/internal/ceres/schur_eliminator_impl.h
@@ -0,0 +1,724 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// TODO(sameeragarwal): row_block_counter can perhaps be replaced by
+// Chunk::start ?
+
+#ifndef CERES_INTERNAL_SCHUR_ELIMINATOR_IMPL_H_
+#define CERES_INTERNAL_SCHUR_ELIMINATOR_IMPL_H_
+
+#ifdef CERES_USE_OPENMP
+#include <omp.h>
+#endif
+
+// Eigen has an internal threshold switching between different matrix
+// multiplication algorithms. In particular for matrices larger than
+// EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD it uses a cache friendly
+// matrix matrix product algorithm that has a higher setup cost. For
+// matrix sizes close to this threshold, especially when the matrices
+// are thin and long, the default choice may not be optimal. This is
+// the case for us, as the default choice causes a 30% performance
+// regression when we moved from Eigen2 to Eigen3.
+#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 10
+
+#include <algorithm>
+#include <map>
+#include <glog/logging.h>
+#include "Eigen/Dense"
+#include "ceres/block_random_access_matrix.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/block_structure.h"
+#include "ceres/map_util.h"
+#include "ceres/schur_eliminator.h"
+#include "ceres/stl_util.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::~SchurEliminator() {
+ STLDeleteElements(&rhs_locks_);
+}
+
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::
+Init(int num_eliminate_blocks, const CompressedRowBlockStructure* bs) {
+ CHECK_GT(num_eliminate_blocks, 0)
+ << "SchurComplementSolver cannot be initialized with "
+ << "num_eliminate_blocks = 0.";
+
+ num_eliminate_blocks_ = num_eliminate_blocks;
+
+ const int num_col_blocks = bs->cols.size();
+ const int num_row_blocks = bs->rows.size();
+
+ buffer_size_ = 1;
+ chunks_.clear();
+ lhs_row_layout_.clear();
+
+ int lhs_num_rows = 0;
+ // Add a map object for each block in the reduced linear system
+ // and build the row/column block structure of the reduced linear
+ // system.
+ lhs_row_layout_.resize(num_col_blocks - num_eliminate_blocks_);
+ for (int i = num_eliminate_blocks_; i < num_col_blocks; ++i) {
+ lhs_row_layout_[i - num_eliminate_blocks_] = lhs_num_rows;
+ lhs_num_rows += bs->cols[i].size;
+ }
+
+ int r = 0;
+ // Iterate over the row blocks of A, and detect the chunks. The
+ // matrix should already have been ordered so that all rows
+ // containing the same y block are vertically contiguous. Along
+ // the way also compute the amount of space each chunk will need
+ // to perform the elimination.
+ while (r < num_row_blocks) {
+ const int chunk_block_id = bs->rows[r].cells.front().block_id;
+ if (chunk_block_id >= num_eliminate_blocks_) {
+ break;
+ }
+
+ chunks_.push_back(Chunk());
+ Chunk& chunk = chunks_.back();
+ chunk.size = 0;
+ chunk.start = r;
+ int buffer_size = 0;
+ const int e_block_size = bs->cols[chunk_block_id].size;
+
+ // Add to the chunk until the first block in the row is
+ // different than the one in the first row for the chunk.
+ while (r + chunk.size < num_row_blocks) {
+ const CompressedRow& row = bs->rows[r + chunk.size];
+ if (row.cells.front().block_id != chunk_block_id) {
+ break;
+ }
+
+ // Iterate over the blocks in the row, ignoring the first
+ // block since it is the one to be eliminated.
+ for (int c = 1; c < row.cells.size(); ++c) {
+ const Cell& cell = row.cells[c];
+ if (InsertIfNotPresent(
+ &(chunk.buffer_layout), cell.block_id, buffer_size)) {
+ buffer_size += e_block_size * bs->cols[cell.block_id].size;
+ }
+ }
+
+ buffer_size_ = max(buffer_size, buffer_size_);
+ ++chunk.size;
+ }
+
+ CHECK_GT(chunk.size, 0);
+ r += chunk.size;
+ }
+ const Chunk& chunk = chunks_.back();
+
+ uneliminated_row_begins_ = chunk.start + chunk.size;
+ if (num_threads_ > 1) {
+ random_shuffle(chunks_.begin(), chunks_.end());
+ }
+
+ buffer_.reset(new double[buffer_size_ * num_threads_]);
+
+ STLDeleteElements(&rhs_locks_);
+ rhs_locks_.resize(num_col_blocks - num_eliminate_blocks_);
+ for (int i = 0; i < num_col_blocks - num_eliminate_blocks_; ++i) {
+ rhs_locks_[i] = new Mutex;
+ }
+
+ VLOG(1) << "Eliminator threads: " << num_threads_;
+}
+
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::
+Eliminate(const BlockSparseMatrixBase* A,
+ const double* b,
+ const double* D,
+ BlockRandomAccessMatrix* lhs,
+ double* rhs) {
+ if (lhs->num_rows() > 0) {
+ lhs->SetZero();
+ VectorRef(rhs, lhs->num_rows()).setZero();
+ }
+
+ const CompressedRowBlockStructure* bs = A->block_structure();
+ const int num_col_blocks = bs->cols.size();
+
+ // Add the diagonal to the schur complement.
+ if (D != NULL) {
+#pragma omp parallel for num_threads(num_threads_) schedule(dynamic)
+ for (int i = num_eliminate_blocks_; i < num_col_blocks; ++i) {
+ const int block_id = i - num_eliminate_blocks_;
+ int r, c, row_stride, col_stride;
+ CellInfo* cell_info = lhs->GetCell(block_id, block_id,
+ &r, &c,
+ &row_stride, &col_stride);
+ if (cell_info != NULL) {
+ const int block_size = bs->cols[i].size;
+ typename EigenTypes<kFBlockSize>::ConstVectorRef
+ diag(D + bs->cols[i].position, block_size);
+
+ CeresMutexLock l(&cell_info->m);
+ MatrixRef m(cell_info->values, row_stride, col_stride);
+ m.block(r, c, block_size, block_size).diagonal()
+ += diag.array().square().matrix();
+ }
+ }
+ }
+
+ // Eliminate y blocks one chunk at a time. For each chunk,x3
+ // compute the entries of the normal equations and the gradient
+ // vector block corresponding to the y block and then apply
+ // Gaussian elimination to them. The matrix ete stores the normal
+ // matrix corresponding to the block being eliminated and array
+ // buffer_ contains the non-zero blocks in the row corresponding
+ // to this y block in the normal equations. This computation is
+ // done in ChunkDiagonalBlockAndGradient. UpdateRhs then applies
+ // gaussian elimination to the rhs of the normal equations,
+ // updating the rhs of the reduced linear system by modifying rhs
+ // blocks for all the z blocks that share a row block/residual
+ // term with the y block. EliminateRowOuterProduct does the
+ // corresponding operation for the lhs of the reduced linear
+ // system.
+#pragma omp parallel for num_threads(num_threads_) schedule(dynamic)
+ for (int i = 0; i < chunks_.size(); ++i) {
+#ifdef CERES_USE_OPENMP
+ int thread_id = omp_get_thread_num();
+#else
+ int thread_id = 0;
+#endif
+ double* buffer = buffer_.get() + thread_id * buffer_size_;
+ const Chunk& chunk = chunks_[i];
+ const int e_block_id = bs->rows[chunk.start].cells.front().block_id;
+ const int e_block_size = bs->cols[e_block_id].size;
+
+ VectorRef(buffer, buffer_size_).setZero();
+
+ typename EigenTypes<kEBlockSize, kEBlockSize>::Matrix
+ ete(e_block_size, e_block_size);
+
+ if (D != NULL) {
+ const typename EigenTypes<kEBlockSize>::ConstVectorRef
+ diag(D + bs->cols[e_block_id].position, e_block_size);
+ ete = diag.array().square().matrix().asDiagonal();
+ } else {
+ ete.setZero();
+ }
+
+ typename EigenTypes<kEBlockSize>::Vector g(e_block_size);
+ g.setZero();
+
+ // We are going to be computing
+ //
+ // S += F'F - F'E(E'E)^{-1}E'F
+ //
+ // for each Chunk. The computation is broken down into a number of
+ // function calls as below.
+
+ // Compute the outer product of the e_blocks with themselves (ete
+ // = E'E). Compute the product of the e_blocks with the
+ // corresonding f_blocks (buffer = E'F), the gradient of the terms
+ // in this chunk (g) and add the outer product of the f_blocks to
+ // Schur complement (S += F'F).
+ ChunkDiagonalBlockAndGradient(
+ chunk, A, b, chunk.start, &ete, &g, buffer, lhs);
+
+ // Normally one wouldn't compute the inverse explicitly, but
+ // e_block_size will typically be a small number like 3, in
+ // which case its much faster to compute the inverse once and
+ // use it to multiply other matrices/vectors instead of doing a
+ // Solve call over and over again.
+ typename EigenTypes<kEBlockSize, kEBlockSize>::Matrix inverse_ete =
+ ete
+ .template selfadjointView<Eigen::Upper>()
+ .ldlt()
+ .solve(Matrix::Identity(e_block_size, e_block_size));
+
+ // For the current chunk compute and update the rhs of the reduced
+ // linear system.
+ //
+ // rhs = F'b - F'E(E'E)^(-1) E'b
+ UpdateRhs(chunk, A, b, chunk.start, inverse_ete * g, rhs);
+
+ // S -= F'E(E'E)^{-1}E'F
+ ChunkOuterProduct(bs, inverse_ete, buffer, chunk.buffer_layout, lhs);
+ }
+
+ // For rows with no e_blocks, the schur complement update reduces to
+ // S += F'F.
+ NoEBlockRowsUpdate(A, b, uneliminated_row_begins_, lhs, rhs);
+}
+
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::
+BackSubstitute(const BlockSparseMatrixBase* A,
+ const double* b,
+ const double* D,
+ const double* z,
+ double* y) {
+ const CompressedRowBlockStructure* bs = A->block_structure();
+#pragma omp parallel for num_threads(num_threads_) schedule(dynamic)
+ for (int i = 0; i < chunks_.size(); ++i) {
+ const Chunk& chunk = chunks_[i];
+ const int e_block_id = bs->rows[chunk.start].cells.front().block_id;
+ const int e_block_size = bs->cols[e_block_id].size;
+
+ typename EigenTypes<kEBlockSize>::VectorRef y_block(
+ y + bs->cols[e_block_id].position, e_block_size);
+
+ typename EigenTypes<kEBlockSize, kEBlockSize>::Matrix
+ ete(e_block_size, e_block_size);
+ if (D != NULL) {
+ const typename EigenTypes<kEBlockSize>::ConstVectorRef
+ diag(D + bs->cols[e_block_id].position, e_block_size);
+ ete = diag.array().square().matrix().asDiagonal();
+ } else {
+ ete.setZero();
+ }
+
+ for (int j = 0; j < chunk.size; ++j) {
+ const CompressedRow& row = bs->rows[chunk.start + j];
+ const double* row_values = A->RowBlockValues(chunk.start + j);
+ const Cell& e_cell = row.cells.front();
+ DCHECK_EQ(e_block_id, e_cell.block_id);
+ const typename EigenTypes<kRowBlockSize, kEBlockSize>::ConstMatrixRef
+ e_block(row_values + e_cell.position,
+ row.block.size,
+ e_block_size);
+
+ typename EigenTypes<kRowBlockSize>::Vector
+ sj =
+ typename EigenTypes<kRowBlockSize>::ConstVectorRef
+ (b + bs->rows[chunk.start + j].block.position,
+ row.block.size);
+
+ for (int c = 1; c < row.cells.size(); ++c) {
+ const int f_block_id = row.cells[c].block_id;
+ const int f_block_size = bs->cols[f_block_id].size;
+ const typename EigenTypes<kRowBlockSize, kFBlockSize>::ConstMatrixRef
+ f_block(row_values + row.cells[c].position,
+ row.block.size, f_block_size);
+ const int r_block = f_block_id - num_eliminate_blocks_;
+
+ sj -= f_block *
+ typename EigenTypes<kFBlockSize>::ConstVectorRef
+ (z + lhs_row_layout_[r_block], f_block_size);
+ }
+
+ y_block += e_block.transpose() * sj;
+ ete.template selfadjointView<Eigen::Upper>()
+ .rankUpdate(e_block.transpose(), 1.0);
+ }
+
+ y_block =
+ ete
+ .template selfadjointView<Eigen::Upper>()
+ .ldlt()
+ .solve(y_block);
+ }
+}
+
+// Update the rhs of the reduced linear system. Compute
+//
+// F'b - F'E(E'E)^(-1) E'b
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::
+UpdateRhs(const Chunk& chunk,
+ const BlockSparseMatrixBase* A,
+ const double* b,
+ int row_block_counter,
+ const Vector& inverse_ete_g,
+ double* rhs) {
+ const CompressedRowBlockStructure* bs = A->block_structure();
+ const int e_block_size = inverse_ete_g.rows();
+ int b_pos = bs->rows[row_block_counter].block.position;
+ for (int j = 0; j < chunk.size; ++j) {
+ const CompressedRow& row = bs->rows[row_block_counter + j];
+ const double *row_values = A->RowBlockValues(row_block_counter + j);
+ const Cell& e_cell = row.cells.front();
+
+ const typename EigenTypes<kRowBlockSize, kEBlockSize>::ConstMatrixRef
+ e_block(row_values + e_cell.position,
+ row.block.size,
+ e_block_size);
+
+ const typename EigenTypes<kRowBlockSize>::Vector
+ sj =
+ typename EigenTypes<kRowBlockSize>::ConstVectorRef
+ (b + b_pos, row.block.size) - e_block * (inverse_ete_g);
+
+ for (int c = 1; c < row.cells.size(); ++c) {
+ const int block_id = row.cells[c].block_id;
+ const int block_size = bs->cols[block_id].size;
+ const typename EigenTypes<kRowBlockSize, kFBlockSize>::ConstMatrixRef
+ b(row_values + row.cells[c].position,
+ row.block.size, block_size);
+
+ const int block = block_id - num_eliminate_blocks_;
+ CeresMutexLock l(rhs_locks_[block]);
+ typename EigenTypes<kFBlockSize>::VectorRef
+ (rhs + lhs_row_layout_[block], block_size).noalias()
+ += b.transpose() * sj;
+ }
+ b_pos += row.block.size;
+ }
+}
+
+// Given a Chunk - set of rows with the same e_block, e.g. in the
+// following Chunk with two rows.
+//
+// E F
+// [ y11 0 0 0 | z11 0 0 0 z51]
+// [ y12 0 0 0 | z12 z22 0 0 0]
+//
+// this function computes twp matrices. The diagonal block matrix
+//
+// ete = y11 * y11' + y12 * y12'
+//
+// and the off diagonal blocks in the Guass Newton Hessian.
+//
+// buffer = [y11'(z11 + z12), y12' * z22, y11' * z51]
+//
+// which are zero compressed versions of the block sparse matrices E'E
+// and E'F.
+//
+// and the gradient of the e_block, E'b.
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::
+ChunkDiagonalBlockAndGradient(
+ const Chunk& chunk,
+ const BlockSparseMatrixBase* A,
+ const double* b,
+ int row_block_counter,
+ typename EigenTypes<kEBlockSize, kEBlockSize>::Matrix* ete,
+ typename EigenTypes<kEBlockSize>::Vector* g,
+ double* buffer,
+ BlockRandomAccessMatrix* lhs) {
+ const CompressedRowBlockStructure* bs = A->block_structure();
+
+ int b_pos = bs->rows[row_block_counter].block.position;
+ const int e_block_size = ete->rows();
+
+ // Iterate over the rows in this chunk, for each row, compute the
+ // contribution of its F blocks to the Schur complement, the
+ // contribution of its E block to the matrix EE' (ete), and the
+ // corresponding block in the gradient vector.
+ for (int j = 0; j < chunk.size; ++j) {
+ const CompressedRow& row = bs->rows[row_block_counter + j];
+ const double *row_values = A->RowBlockValues(row_block_counter + j);
+
+ if (row.cells.size() > 1) {
+ EBlockRowOuterProduct(A, row_block_counter + j, lhs);
+ }
+
+ // Extract the e_block, ETE += E_i' E_i
+ const Cell& e_cell = row.cells.front();
+ const typename EigenTypes<kRowBlockSize, kEBlockSize>::ConstMatrixRef
+ e_block(row_values + e_cell.position,
+ row.block.size,
+ e_block_size);
+
+ ete->template selfadjointView<Eigen::Upper>()
+ .rankUpdate(e_block.transpose(), 1.0);
+
+ // g += E_i' b_i
+ g->noalias() += e_block.transpose() *
+ typename EigenTypes<kRowBlockSize>::ConstVectorRef
+ (b + b_pos, row.block.size);
+
+ // buffer = E'F. This computation is done by iterating over the
+ // f_blocks for each row in the chunk.
+ for (int c = 1; c < row.cells.size(); ++c) {
+ const int f_block_id = row.cells[c].block_id;
+ const int f_block_size = bs->cols[f_block_id].size;
+ const typename EigenTypes<kRowBlockSize, kFBlockSize>::ConstMatrixRef
+ f_block(row_values + row.cells[c].position,
+ row.block.size, f_block_size);
+
+ double* buffer_ptr =
+ buffer + FindOrDie(chunk.buffer_layout, f_block_id);
+
+ typename EigenTypes<kEBlockSize, kFBlockSize>::MatrixRef
+ (buffer_ptr, e_block_size, f_block_size).noalias()
+ += e_block.transpose() * f_block;
+ }
+ b_pos += row.block.size;
+ }
+}
+
+// Compute the outer product F'E(E'E)^{-1}E'F and subtract it from the
+// Schur complement matrix, i.e
+//
+// S -= F'E(E'E)^{-1}E'F.
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::
+ChunkOuterProduct(const CompressedRowBlockStructure* bs,
+ const Matrix& inverse_ete,
+ const double* buffer,
+ const BufferLayoutType& buffer_layout,
+ BlockRandomAccessMatrix* lhs) {
+ // This is the most computationally expensive part of this
+ // code. Profiling experiments reveal that the bottleneck is not the
+ // computation of the right-hand matrix product, but memory
+ // references to the left hand side.
+ const int e_block_size = inverse_ete.rows();
+ BufferLayoutType::const_iterator it1 = buffer_layout.begin();
+ // S(i,j) -= bi' * ete^{-1} b_j
+ for (; it1 != buffer_layout.end(); ++it1) {
+ const int block1 = it1->first - num_eliminate_blocks_;
+ const int block1_size = bs->cols[it1->first].size;
+
+ const typename EigenTypes<kEBlockSize, kFBlockSize>::ConstMatrixRef
+ b1(buffer + it1->second, e_block_size, block1_size);
+ const typename EigenTypes<kFBlockSize, kEBlockSize>::Matrix
+ b1_transpose_inverse_ete = b1.transpose() * inverse_ete;
+
+ BufferLayoutType::const_iterator it2 = it1;
+ for (; it2 != buffer_layout.end(); ++it2) {
+ const int block2 = it2->first - num_eliminate_blocks_;
+
+ int r, c, row_stride, col_stride;
+ CellInfo* cell_info = lhs->GetCell(block1, block2,
+ &r, &c,
+ &row_stride, &col_stride);
+ if (cell_info == NULL) {
+ continue;
+ }
+
+ const int block2_size = bs->cols[it2->first].size;
+ const typename EigenTypes<kEBlockSize, kFBlockSize>::ConstMatrixRef
+ b2(buffer + it2->second, e_block_size, block2_size);
+
+ CeresMutexLock l(&cell_info->m);
+ MatrixRef m(cell_info->values, row_stride, col_stride);
+
+ // We explicitly construct a block object here instead of using
+ // m.block(), as m.block() variant of the constructor does not
+ // allow mixing of template sizing and runtime sizing parameters
+ // like the Matrix class does.
+ Eigen::Block<MatrixRef, kFBlockSize, kFBlockSize>
+ block(m, r, c, block1_size, block2_size);
+#ifdef CERES_WORK_AROUND_ANDROID_NDK_COMPILER_BUG
+ // Removing the ".noalias()" annotation on the following statement is
+ // necessary to produce a correct build with the Android NDK, including
+ // versions 6, 7, 8, and 8b, when built with STLPort and the
+ // non-standalone toolchain (i.e. ndk-build). This appears to be a
+ // compiler bug; if the workaround is not in place, the line
+ //
+ // block.noalias() -= b1_transpose_inverse_ete * b2;
+ //
+ // gets compiled to
+ //
+ // block.noalias() += b1_transpose_inverse_ete * b2;
+ //
+ // which breaks schur elimination. Introducing a temporary by removing the
+ // .noalias() annotation causes the issue to disappear. Tracking this
+ // issue down was tricky, since the test suite doesn't run when built with
+ // the non-standalone toolchain.
+ //
+ // TODO(keir): Make a reproduction case for this and send it upstream.
+ block -= b1_transpose_inverse_ete * b2;
+#else
+ block.noalias() -= b1_transpose_inverse_ete * b2;
+#endif // CERES_WORK_AROUND_ANDROID_NDK_COMPILER_BUG
+ }
+ }
+}
+
+// For rows with no e_blocks, the schur complement update reduces to S
+// += F'F. This function iterates over the rows of A with no e_block,
+// and calls NoEBlockRowOuterProduct on each row.
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::
+NoEBlockRowsUpdate(const BlockSparseMatrixBase* A,
+ const double* b,
+ int row_block_counter,
+ BlockRandomAccessMatrix* lhs,
+ double* rhs) {
+ const CompressedRowBlockStructure* bs = A->block_structure();
+ for (; row_block_counter < bs->rows.size(); ++row_block_counter) {
+ const CompressedRow& row = bs->rows[row_block_counter];
+ const double *row_values = A->RowBlockValues(row_block_counter);
+ for (int c = 0; c < row.cells.size(); ++c) {
+ const int block_id = row.cells[c].block_id;
+ const int block_size = bs->cols[block_id].size;
+ const int block = block_id - num_eliminate_blocks_;
+ VectorRef(rhs + lhs_row_layout_[block], block_size).noalias()
+ += (ConstMatrixRef(row_values + row.cells[c].position,
+ row.block.size, block_size).transpose() *
+ ConstVectorRef(b + row.block.position, row.block.size));
+ }
+ NoEBlockRowOuterProduct(A, row_block_counter, lhs);
+ }
+}
+
+
+// A row r of A, which has no e_blocks gets added to the Schur
+// Complement as S += r r'. This function is responsible for computing
+// the contribution of a single row r to the Schur complement. It is
+// very similar in structure to EBlockRowOuterProduct except for
+// one difference. It does not use any of the template
+// parameters. This is because the algorithm used for detecting the
+// static structure of the matrix A only pays attention to rows with
+// e_blocks. This is becase rows without e_blocks are rare and
+// typically arise from regularization terms in the original
+// optimization problem, and have a very different structure than the
+// rows with e_blocks. Including them in the static structure
+// detection will lead to most template parameters being set to
+// dynamic. Since the number of rows without e_blocks is small, the
+// lack of templating is not an issue.
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::
+NoEBlockRowOuterProduct(const BlockSparseMatrixBase* A,
+ int row_block_index,
+ BlockRandomAccessMatrix* lhs) {
+ const CompressedRowBlockStructure* bs = A->block_structure();
+ const CompressedRow& row = bs->rows[row_block_index];
+ const double *row_values = A->RowBlockValues(row_block_index);
+ for (int i = 0; i < row.cells.size(); ++i) {
+ const int block1 = row.cells[i].block_id - num_eliminate_blocks_;
+ DCHECK_GE(block1, 0);
+
+ const int block1_size = bs->cols[row.cells[i].block_id].size;
+ const ConstMatrixRef b1(row_values + row.cells[i].position,
+ row.block.size, block1_size);
+ int r, c, row_stride, col_stride;
+ CellInfo* cell_info = lhs->GetCell(block1, block1,
+ &r, &c,
+ &row_stride, &col_stride);
+ if (cell_info != NULL) {
+ CeresMutexLock l(&cell_info->m);
+ MatrixRef m(cell_info->values, row_stride, col_stride);
+ m.block(r, c, block1_size, block1_size)
+ .selfadjointView<Eigen::Upper>()
+ .rankUpdate(b1.transpose(), 1.0);
+ }
+
+ for (int j = i + 1; j < row.cells.size(); ++j) {
+ const int block2 = row.cells[j].block_id - num_eliminate_blocks_;
+ DCHECK_GE(block2, 0);
+ DCHECK_LT(block1, block2);
+ int r, c, row_stride, col_stride;
+ CellInfo* cell_info = lhs->GetCell(block1, block2,
+ &r, &c,
+ &row_stride, &col_stride);
+ if (cell_info == NULL) {
+ continue;
+ }
+
+ const int block2_size = bs->cols[row.cells[j].block_id].size;
+ CeresMutexLock l(&cell_info->m);
+ MatrixRef m(cell_info->values, row_stride, col_stride);
+ m.block(r, c, block1_size, block2_size).noalias() +=
+ b1.transpose() * ConstMatrixRef(row_values + row.cells[j].position,
+ row.block.size,
+ block2_size);
+ }
+ }
+}
+
+// For a row with an e_block, compute the contribition S += F'F. This
+// function has the same structure as NoEBlockRowOuterProduct, except
+// that this function uses the template parameters.
+template <int kRowBlockSize, int kEBlockSize, int kFBlockSize>
+void
+SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::
+EBlockRowOuterProduct(const BlockSparseMatrixBase* A,
+ int row_block_index,
+ BlockRandomAccessMatrix* lhs) {
+ const CompressedRowBlockStructure* bs = A->block_structure();
+ const CompressedRow& row = bs->rows[row_block_index];
+ const double *row_values = A->RowBlockValues(row_block_index);
+ for (int i = 1; i < row.cells.size(); ++i) {
+ const int block1 = row.cells[i].block_id - num_eliminate_blocks_;
+ DCHECK_GE(block1, 0);
+
+ const int block1_size = bs->cols[row.cells[i].block_id].size;
+ const typename EigenTypes<kRowBlockSize, kFBlockSize>::ConstMatrixRef
+ b1(row_values + row.cells[i].position,
+ row.block.size, block1_size);
+ {
+ int r, c, row_stride, col_stride;
+ CellInfo* cell_info = lhs->GetCell(block1, block1,
+ &r, &c,
+ &row_stride, &col_stride);
+ if (cell_info == NULL) {
+ continue;
+ }
+
+ CeresMutexLock l(&cell_info->m);
+ MatrixRef m(cell_info->values, row_stride, col_stride);
+
+ Eigen::Block<MatrixRef, kFBlockSize, kFBlockSize>
+ block(m, r, c, block1_size, block1_size);
+ block.template selfadjointView<Eigen::Upper>()
+ .rankUpdate(b1.transpose(), 1.0);
+ }
+
+ for (int j = i + 1; j < row.cells.size(); ++j) {
+ const int block2 = row.cells[j].block_id - num_eliminate_blocks_;
+ DCHECK_GE(block2, 0);
+ DCHECK_LT(block1, block2);
+ const int block2_size = bs->cols[row.cells[j].block_id].size;
+ int r, c, row_stride, col_stride;
+ CellInfo* cell_info = lhs->GetCell(block1, block2,
+ &r, &c,
+ &row_stride, &col_stride);
+ if (cell_info == NULL) {
+ continue;
+ }
+
+ const typename EigenTypes<kRowBlockSize, kFBlockSize>::ConstMatrixRef
+ b2(row_values + row.cells[j].position,
+ row.block.size,
+ block2_size);
+
+ CeresMutexLock l(&cell_info->m);
+ MatrixRef m(cell_info->values, row_stride, col_stride);
+ Eigen::Block<MatrixRef, kFBlockSize, kFBlockSize>
+ block(m, r, c, block1_size, block2_size);
+ block.noalias() += b1.transpose() * b2;
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_SCHUR_ELIMINATOR_IMPL_H_
diff --git a/internal/ceres/schur_eliminator_test.cc b/internal/ceres/schur_eliminator_test.cc
new file mode 100644
index 0000000..56db598
--- /dev/null
+++ b/internal/ceres/schur_eliminator_test.cc
@@ -0,0 +1,229 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/schur_eliminator.h"
+
+#include "Eigen/Dense"
+#include "ceres/block_random_access_dense_matrix.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/casts.h"
+#include "ceres/detect_structure.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/test_util.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+// TODO(sameeragarwal): Reduce the size of these tests and redo the
+// parameterization to be more efficient.
+
+namespace ceres {
+namespace internal {
+
+class SchurEliminatorTest : public ::testing::Test {
+ protected:
+ void SetUpFromId(int id) {
+ scoped_ptr<LinearLeastSquaresProblem>
+ problem(CreateLinearLeastSquaresProblemFromId(id));
+ CHECK_NOTNULL(problem.get());
+ SetupHelper(problem.get());
+ }
+
+ void SetUpFromFilename(const string& filename) {
+ scoped_ptr<LinearLeastSquaresProblem>
+ problem(CreateLinearLeastSquaresProblemFromFile(filename));
+ CHECK_NOTNULL(problem.get());
+ SetupHelper(problem.get());
+ }
+
+ void SetupHelper(LinearLeastSquaresProblem* problem) {
+ A.reset(down_cast<BlockSparseMatrix*>(problem->A.release()));
+ b.reset(problem->b.release());
+ D.reset(problem->D.release());
+
+ num_eliminate_blocks = problem->num_eliminate_blocks;
+ num_eliminate_cols = 0;
+ const CompressedRowBlockStructure* bs = A->block_structure();
+
+ for (int i = 0; i < num_eliminate_blocks; ++i) {
+ num_eliminate_cols += bs->cols[i].size;
+ }
+ }
+
+ // Compute the golden values for the reduced linear system and the
+ // solution to the linear least squares problem using dense linear
+ // algebra.
+ void ComputeReferenceSolution(const Vector& D) {
+ Matrix J;
+ A->ToDenseMatrix(&J);
+ VectorRef f(b.get(), J.rows());
+
+ Matrix H = (D.cwiseProduct(D)).asDiagonal();
+ H.noalias() += J.transpose() * J;
+
+ const Vector g = J.transpose() * f;
+ const int schur_size = J.cols() - num_eliminate_cols;
+
+ lhs_expected.resize(schur_size, schur_size);
+ lhs_expected.setZero();
+
+ rhs_expected.resize(schur_size);
+ rhs_expected.setZero();
+
+ sol_expected.resize(J.cols());
+ sol_expected.setZero();
+
+ Matrix P = H.block(0, 0, num_eliminate_cols, num_eliminate_cols);
+ Matrix Q = H.block(0,
+ num_eliminate_cols,
+ num_eliminate_cols,
+ schur_size);
+ Matrix R = H.block(num_eliminate_cols,
+ num_eliminate_cols,
+ schur_size,
+ schur_size);
+ int row = 0;
+ const CompressedRowBlockStructure* bs = A->block_structure();
+ for (int i = 0; i < num_eliminate_blocks; ++i) {
+ const int block_size = bs->cols[i].size;
+ P.block(row, row, block_size, block_size) =
+ P
+ .block(row, row, block_size, block_size)
+ .ldlt()
+ .solve(Matrix::Identity(block_size, block_size));
+ row += block_size;
+ }
+
+ lhs_expected
+ .triangularView<Eigen::Upper>() = R - Q.transpose() * P * Q;
+ rhs_expected =
+ g.tail(schur_size) - Q.transpose() * P * g.head(num_eliminate_cols);
+ sol_expected = H.ldlt().solve(g);
+ }
+
+ void EliminateSolveAndCompare(const VectorRef& diagonal,
+ bool use_static_structure,
+ const double relative_tolerance) {
+ const CompressedRowBlockStructure* bs = A->block_structure();
+ const int num_col_blocks = bs->cols.size();
+ vector<int> blocks(num_col_blocks - num_eliminate_blocks, 0);
+ for (int i = num_eliminate_blocks; i < num_col_blocks; ++i) {
+ blocks[i - num_eliminate_blocks] = bs->cols[i].size;
+ }
+
+ BlockRandomAccessDenseMatrix lhs(blocks);
+
+ const int num_cols = A->num_cols();
+ const int schur_size = lhs.num_rows();
+
+ Vector rhs(schur_size);
+
+ LinearSolver::Options options;
+ options.elimination_groups.push_back(num_eliminate_blocks);
+ if (use_static_structure) {
+ DetectStructure(*bs,
+ num_eliminate_blocks,
+ &options.row_block_size,
+ &options.e_block_size,
+ &options.f_block_size);
+ }
+
+ scoped_ptr<SchurEliminatorBase> eliminator;
+ eliminator.reset(SchurEliminatorBase::Create(options));
+ eliminator->Init(num_eliminate_blocks, A->block_structure());
+ eliminator->Eliminate(A.get(), b.get(), diagonal.data(), &lhs, rhs.data());
+
+ MatrixRef lhs_ref(lhs.mutable_values(), lhs.num_rows(), lhs.num_cols());
+ Vector reduced_sol =
+ lhs_ref
+ .selfadjointView<Eigen::Upper>()
+ .ldlt()
+ .solve(rhs);
+
+ // Solution to the linear least squares problem.
+ Vector sol(num_cols);
+ sol.setZero();
+ sol.tail(schur_size) = reduced_sol;
+ eliminator->BackSubstitute(A.get(),
+ b.get(),
+ diagonal.data(),
+ reduced_sol.data(),
+ sol.data());
+
+ Matrix delta = (lhs_ref - lhs_expected).selfadjointView<Eigen::Upper>();
+ double diff = delta.norm();
+ EXPECT_NEAR(diff / lhs_expected.norm(), 0.0, relative_tolerance);
+ EXPECT_NEAR((rhs - rhs_expected).norm() / rhs_expected.norm(), 0.0,
+ relative_tolerance);
+ EXPECT_NEAR((sol - sol_expected).norm() / sol_expected.norm(), 0.0,
+ relative_tolerance);
+ }
+
+ scoped_ptr<BlockSparseMatrix> A;
+ scoped_array<double> b;
+ scoped_array<double> D;
+ int num_eliminate_blocks;
+ int num_eliminate_cols;
+
+ Matrix lhs_expected;
+ Vector rhs_expected;
+ Vector sol_expected;
+};
+
+TEST_F(SchurEliminatorTest, ScalarProblem) {
+ SetUpFromId(2);
+ Vector zero(A->num_cols());
+ zero.setZero();
+
+ ComputeReferenceSolution(VectorRef(zero.data(), A->num_cols()));
+ EliminateSolveAndCompare(VectorRef(zero.data(), A->num_cols()), true, 1e-14);
+ EliminateSolveAndCompare(VectorRef(zero.data(), A->num_cols()), false, 1e-14);
+
+ ComputeReferenceSolution(VectorRef(D.get(), A->num_cols()));
+ EliminateSolveAndCompare(VectorRef(D.get(), A->num_cols()), true, 1e-14);
+ EliminateSolveAndCompare(VectorRef(D.get(), A->num_cols()), false, 1e-14);
+}
+
+#ifndef CERES_NO_PROTOCOL_BUFFERS
+TEST_F(SchurEliminatorTest, BlockProblem) {
+ const string input_file = TestFileAbsolutePath("problem-6-1384-000.lsqp");
+
+ SetUpFromFilename(input_file);
+ ComputeReferenceSolution(VectorRef(D.get(), A->num_cols()));
+ EliminateSolveAndCompare(VectorRef(D.get(), A->num_cols()), true, 1e-10);
+ EliminateSolveAndCompare(VectorRef(D.get(), A->num_cols()), false, 1e-10);
+}
+#endif // CERES_NO_PROTOCOL_BUFFERS
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/scratch_evaluate_preparer.cc b/internal/ceres/scratch_evaluate_preparer.cc
new file mode 100644
index 0000000..6f0ceef
--- /dev/null
+++ b/internal/ceres/scratch_evaluate_preparer.cc
@@ -0,0 +1,78 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "ceres/scratch_evaluate_preparer.h"
+
+#include "ceres/parameter_block.h"
+#include "ceres/program.h"
+#include "ceres/residual_block.h"
+
+namespace ceres {
+namespace internal {
+
+ScratchEvaluatePreparer* ScratchEvaluatePreparer::Create(
+ const Program &program,
+ int num_threads) {
+ ScratchEvaluatePreparer* preparers = new ScratchEvaluatePreparer[num_threads];
+ int max_derivatives_per_residual_block =
+ program.MaxDerivativesPerResidualBlock();
+ for (int i = 0; i < num_threads; i++) {
+ preparers[i].Init(max_derivatives_per_residual_block);
+ }
+ return preparers;
+}
+
+void ScratchEvaluatePreparer::Init(int max_derivatives_per_residual_block) {
+ jacobian_scratch_.reset(
+ new double[max_derivatives_per_residual_block]);
+}
+
+// Point the jacobian blocks into the scratch area of this evaluate preparer.
+void ScratchEvaluatePreparer::Prepare(const ResidualBlock* residual_block,
+ int /* residual_block_index */,
+ SparseMatrix* /* jacobian */,
+ double** jacobians) {
+ double* jacobian_block_cursor = jacobian_scratch_.get();
+ int num_residuals = residual_block->NumResiduals();
+ int num_parameter_blocks = residual_block->NumParameterBlocks();
+ for (int j = 0; j < num_parameter_blocks; ++j) {
+ const ParameterBlock* parameter_block =
+ residual_block->parameter_blocks()[j];
+ if (parameter_block->IsConstant()) {
+ jacobians[j] = NULL;
+ } else {
+ jacobians[j] = jacobian_block_cursor;
+ jacobian_block_cursor += num_residuals * parameter_block->LocalSize();
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/scratch_evaluate_preparer.h b/internal/ceres/scratch_evaluate_preparer.h
new file mode 100644
index 0000000..6b12708
--- /dev/null
+++ b/internal/ceres/scratch_evaluate_preparer.h
@@ -0,0 +1,69 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// A scratch evaluate preparer provides temporary storage for the jacobians that
+// are created when running user-provided cost functions. The evaluator takes
+// care to avoid evaluating the jacobian for fixed parameters.
+
+#ifndef CERES_INTERNAL_SCRATCH_EVALUATE_PREPARER_H_
+#define CERES_INTERNAL_SCRATCH_EVALUATE_PREPARER_H_
+
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+class Program;
+class ResidualBlock;
+class SparseMatrix;
+
+class ScratchEvaluatePreparer {
+ public:
+ // Create num_threads ScratchEvaluatePreparers.
+ static ScratchEvaluatePreparer* Create(const Program &program,
+ int num_threads);
+
+ // EvaluatePreparer interface
+ void Init(int max_derivatives_per_residual_block);
+ void Prepare(const ResidualBlock* residual_block,
+ int residual_block_index,
+ SparseMatrix* jacobian,
+ double** jacobians);
+
+ private:
+ // Scratch space for the jacobians; each jacobian is packed one after another.
+ // There is enough scratch to hold all the jacobians for the largest residual.
+ scoped_array<double> jacobian_scratch_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_SCRATCH_EVALUATE_PREPARER_H_
diff --git a/internal/ceres/solver.cc b/internal/ceres/solver.cc
new file mode 100644
index 0000000..450a710
--- /dev/null
+++ b/internal/ceres/solver.cc
@@ -0,0 +1,240 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+// sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/solver.h"
+
+#include <vector>
+#include "ceres/problem.h"
+#include "ceres/problem_impl.h"
+#include "ceres/program.h"
+#include "ceres/solver_impl.h"
+#include "ceres/stringprintf.h"
+#include "ceres/wall_time.h"
+
+namespace ceres {
+
+Solver::Options::~Options() {
+ delete linear_solver_ordering;
+ delete inner_iteration_ordering;
+}
+
+Solver::~Solver() {}
+
+void Solver::Solve(const Solver::Options& options,
+ Problem* problem,
+ Solver::Summary* summary) {
+ double start_time_seconds = internal::WallTimeInSeconds();
+ internal::ProblemImpl* problem_impl =
+ CHECK_NOTNULL(problem)->problem_impl_.get();
+ internal::SolverImpl::Solve(options, problem_impl, summary);
+ summary->total_time_in_seconds =
+ internal::WallTimeInSeconds() - start_time_seconds;
+}
+
+void Solve(const Solver::Options& options,
+ Problem* problem,
+ Solver::Summary* summary) {
+ Solver solver;
+ solver.Solve(options, problem, summary);
+}
+
+Solver::Summary::Summary()
+ // Invalid values for most fields, to ensure that we are not
+ // accidentally reporting default values.
+ : termination_type(DID_NOT_RUN),
+ initial_cost(-1.0),
+ final_cost(-1.0),
+ fixed_cost(-1.0),
+ num_successful_steps(-1),
+ num_unsuccessful_steps(-1),
+ preprocessor_time_in_seconds(-1.0),
+ minimizer_time_in_seconds(-1.0),
+ postprocessor_time_in_seconds(-1.0),
+ total_time_in_seconds(-1.0),
+ num_parameter_blocks(-1),
+ num_parameters(-1),
+ num_residual_blocks(-1),
+ num_residuals(-1),
+ num_parameter_blocks_reduced(-1),
+ num_parameters_reduced(-1),
+ num_residual_blocks_reduced(-1),
+ num_residuals_reduced(-1),
+ num_threads_given(-1),
+ num_threads_used(-1),
+ num_linear_solver_threads_given(-1),
+ num_linear_solver_threads_used(-1),
+ linear_solver_type_given(SPARSE_NORMAL_CHOLESKY),
+ linear_solver_type_used(SPARSE_NORMAL_CHOLESKY),
+ preconditioner_type(IDENTITY),
+ trust_region_strategy_type(LEVENBERG_MARQUARDT),
+ sparse_linear_algebra_library(SUITE_SPARSE) {
+}
+
+string Solver::Summary::BriefReport() const {
+ string report = "Ceres Solver Report: ";
+ if (termination_type == DID_NOT_RUN) {
+ CHECK(!error.empty())
+ << "Solver terminated with DID_NOT_RUN but the solver did not "
+ << "return a reason. This is a Ceres error. Please report this "
+ << "to the Ceres team";
+ return report + "Termination: DID_NOT_RUN, because " + error;
+ }
+
+ internal::StringAppendF(&report, "Iterations: %d",
+ num_successful_steps + num_unsuccessful_steps);
+ internal::StringAppendF(&report, ", Initial cost: %e", initial_cost);
+
+ // If the solver failed or was aborted, then the final_cost has no
+ // meaning.
+ if (termination_type != NUMERICAL_FAILURE &&
+ termination_type != USER_ABORT) {
+ internal::StringAppendF(&report, ", Final cost: %e", final_cost);
+ }
+
+ internal::StringAppendF(&report, ", Termination: %s.",
+ SolverTerminationTypeToString(termination_type));
+ return report;
+};
+
+string Solver::Summary::FullReport() const {
+ string report =
+ "\n"
+ "Ceres Solver Report\n"
+ "-------------------\n";
+
+ if (termination_type == DID_NOT_RUN) {
+ internal::StringAppendF(&report, " Original\n");
+ internal::StringAppendF(&report, "Parameter blocks % 10d\n",
+ num_parameter_blocks);
+ internal::StringAppendF(&report, "Parameters % 10d\n",
+ num_parameters);
+ internal::StringAppendF(&report, "Residual blocks % 10d\n",
+ num_residual_blocks);
+ internal::StringAppendF(&report, "Residuals % 10d\n\n",
+ num_residuals);
+ } else {
+ internal::StringAppendF(&report, "%45s %21s\n", "Original", "Reduced");
+ internal::StringAppendF(&report, "Parameter blocks % 25d% 25d\n",
+ num_parameter_blocks, num_parameter_blocks_reduced);
+ internal::StringAppendF(&report, "Parameters % 25d% 25d\n",
+ num_parameters, num_parameters_reduced);
+ internal::StringAppendF(&report, "Residual blocks % 25d% 25d\n",
+ num_residual_blocks, num_residual_blocks_reduced);
+ internal::StringAppendF(&report, "Residual % 25d% 25d\n\n",
+ num_residuals, num_residuals_reduced);
+ }
+
+ internal::StringAppendF(&report, "%45s %21s\n", "Given", "Used");
+ internal::StringAppendF(&report, "Linear solver %25s%25s\n",
+ LinearSolverTypeToString(linear_solver_type_given),
+ LinearSolverTypeToString(linear_solver_type_used));
+
+ if (linear_solver_type_given == CGNR ||
+ linear_solver_type_given == ITERATIVE_SCHUR) {
+ internal::StringAppendF(&report, "Preconditioner %25s%25s\n",
+ PreconditionerTypeToString(preconditioner_type),
+ PreconditionerTypeToString(preconditioner_type));
+ } else {
+ internal::StringAppendF(&report, "Preconditioner %25s%25s\n",
+ "N/A", "N/A");
+ }
+
+ // TODO(sameeragarwal): Add support for logging the ordering object.
+ internal::StringAppendF(&report, "Threads: % 25d% 25d\n",
+ num_threads_given, num_threads_used);
+ internal::StringAppendF(&report, "Linear solver threads % 23d% 25d\n",
+ num_linear_solver_threads_given,
+ num_linear_solver_threads_used);
+
+ if (linear_solver_type_used == SPARSE_NORMAL_CHOLESKY ||
+ linear_solver_type_used == SPARSE_SCHUR ||
+ (linear_solver_type_used == ITERATIVE_SCHUR &&
+ (preconditioner_type == SCHUR_JACOBI ||
+ preconditioner_type == CLUSTER_JACOBI ||
+ preconditioner_type == CLUSTER_TRIDIAGONAL))) {
+ internal::StringAppendF(&report, "\nSparse Linear Algebra Library %15s\n",
+ SparseLinearAlgebraLibraryTypeToString(
+ sparse_linear_algebra_library));
+ }
+
+ internal::StringAppendF(&report, "Trust Region Strategy %19s",
+ TrustRegionStrategyTypeToString(
+ trust_region_strategy_type));
+ if (trust_region_strategy_type == DOGLEG) {
+ if (dogleg_type == TRADITIONAL_DOGLEG) {
+ internal::StringAppendF(&report, " (TRADITIONAL)");
+ } else {
+ internal::StringAppendF(&report, " (SUBSPACE)");
+ }
+ }
+ internal::StringAppendF(&report, "\n");
+
+
+ if (termination_type == DID_NOT_RUN) {
+ CHECK(!error.empty())
+ << "Solver terminated with DID_NOT_RUN but the solver did not "
+ << "return a reason. This is a Ceres error. Please report this "
+ << "to the Ceres team";
+ internal::StringAppendF(&report, "Termination: %20s\n",
+ "DID_NOT_RUN");
+ internal::StringAppendF(&report, "Reason: %s\n", error.c_str());
+ return report;
+ }
+
+ internal::StringAppendF(&report, "\nCost:\n");
+ internal::StringAppendF(&report, "Initial % 30e\n", initial_cost);
+ if (termination_type != NUMERICAL_FAILURE && termination_type != USER_ABORT) {
+ internal::StringAppendF(&report, "Final % 30e\n", final_cost);
+ internal::StringAppendF(&report, "Change % 30e\n",
+ initial_cost - final_cost);
+ }
+
+ internal::StringAppendF(&report, "\nNumber of iterations:\n");
+ internal::StringAppendF(&report, "Successful % 20d\n",
+ num_successful_steps);
+ internal::StringAppendF(&report, "Unsuccessful % 20d\n",
+ num_unsuccessful_steps);
+ internal::StringAppendF(&report, "Total % 20d\n",
+ num_successful_steps + num_unsuccessful_steps);
+ internal::StringAppendF(&report, "\nTime (in seconds):\n");
+ internal::StringAppendF(&report, "Preprocessor % 25e\n",
+ preprocessor_time_in_seconds);
+ internal::StringAppendF(&report, "Minimizer % 25e\n",
+ minimizer_time_in_seconds);
+ internal::StringAppendF(&report, "Total % 25e\n",
+ total_time_in_seconds);
+
+ internal::StringAppendF(&report, "Termination: %25s\n",
+ SolverTerminationTypeToString(termination_type));
+ return report;
+};
+
+} // namespace ceres
diff --git a/internal/ceres/solver_impl.cc b/internal/ceres/solver_impl.cc
new file mode 100644
index 0000000..64e0f8e
--- /dev/null
+++ b/internal/ceres/solver_impl.cc
@@ -0,0 +1,1100 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "ceres/solver_impl.h"
+
+#include <cstdio>
+#include <iostream> // NOLINT
+#include <numeric>
+#include "ceres/coordinate_descent_minimizer.h"
+#include "ceres/evaluator.h"
+#include "ceres/gradient_checking_cost_function.h"
+#include "ceres/iteration_callback.h"
+#include "ceres/levenberg_marquardt_strategy.h"
+#include "ceres/linear_solver.h"
+#include "ceres/map_util.h"
+#include "ceres/minimizer.h"
+#include "ceres/ordered_groups.h"
+#include "ceres/parameter_block.h"
+#include "ceres/parameter_block_ordering.h"
+#include "ceres/problem.h"
+#include "ceres/problem_impl.h"
+#include "ceres/program.h"
+#include "ceres/residual_block.h"
+#include "ceres/stringprintf.h"
+#include "ceres/trust_region_minimizer.h"
+#include "ceres/wall_time.h"
+
+namespace ceres {
+namespace internal {
+namespace {
+
+// Callback for updating the user's parameter blocks. Updates are only
+// done if the step is successful.
+class StateUpdatingCallback : public IterationCallback {
+ public:
+ StateUpdatingCallback(Program* program, double* parameters)
+ : program_(program), parameters_(parameters) {}
+
+ CallbackReturnType operator()(const IterationSummary& summary) {
+ if (summary.step_is_successful) {
+ program_->StateVectorToParameterBlocks(parameters_);
+ program_->CopyParameterBlockStateToUserState();
+ }
+ return SOLVER_CONTINUE;
+ }
+
+ private:
+ Program* program_;
+ double* parameters_;
+};
+
+// Callback for logging the state of the minimizer to STDERR or STDOUT
+// depending on the user's preferences and logging level.
+class LoggingCallback : public IterationCallback {
+ public:
+ explicit LoggingCallback(bool log_to_stdout)
+ : log_to_stdout_(log_to_stdout) {}
+
+ ~LoggingCallback() {}
+
+ CallbackReturnType operator()(const IterationSummary& summary) {
+ const char* kReportRowFormat =
+ "% 4d: f:% 8e d:% 3.2e g:% 3.2e h:% 3.2e "
+ "rho:% 3.2e mu:% 3.2e li:% 3d it:% 3.2e tt:% 3.2e";
+ string output = StringPrintf(kReportRowFormat,
+ summary.iteration,
+ summary.cost,
+ summary.cost_change,
+ summary.gradient_max_norm,
+ summary.step_norm,
+ summary.relative_decrease,
+ summary.trust_region_radius,
+ summary.linear_solver_iterations,
+ summary.iteration_time_in_seconds,
+ summary.cumulative_time_in_seconds);
+ if (log_to_stdout_) {
+ cout << output << endl;
+ } else {
+ VLOG(1) << output;
+ }
+ return SOLVER_CONTINUE;
+ }
+
+ private:
+ const bool log_to_stdout_;
+};
+
+// Basic callback to record the execution of the solver to a file for
+// offline analysis.
+class FileLoggingCallback : public IterationCallback {
+ public:
+ explicit FileLoggingCallback(const string& filename)
+ : fptr_(NULL) {
+ fptr_ = fopen(filename.c_str(), "w");
+ CHECK_NOTNULL(fptr_);
+ }
+
+ virtual ~FileLoggingCallback() {
+ if (fptr_ != NULL) {
+ fclose(fptr_);
+ }
+ }
+
+ virtual CallbackReturnType operator()(const IterationSummary& summary) {
+ fprintf(fptr_,
+ "%4d %e %e\n",
+ summary.iteration,
+ summary.cost,
+ summary.cumulative_time_in_seconds);
+ return SOLVER_CONTINUE;
+ }
+ private:
+ FILE* fptr_;
+};
+
+} // namespace
+
+void SolverImpl::Minimize(const Solver::Options& options,
+ Program* program,
+ CoordinateDescentMinimizer* inner_iteration_minimizer,
+ Evaluator* evaluator,
+ LinearSolver* linear_solver,
+ double* parameters,
+ Solver::Summary* summary) {
+ Minimizer::Options minimizer_options(options);
+
+ // TODO(sameeragarwal): Add support for logging the configuration
+ // and more detailed stats.
+ scoped_ptr<IterationCallback> file_logging_callback;
+ if (!options.solver_log.empty()) {
+ file_logging_callback.reset(new FileLoggingCallback(options.solver_log));
+ minimizer_options.callbacks.insert(minimizer_options.callbacks.begin(),
+ file_logging_callback.get());
+ }
+
+ LoggingCallback logging_callback(options.minimizer_progress_to_stdout);
+ if (options.logging_type != SILENT) {
+ minimizer_options.callbacks.insert(minimizer_options.callbacks.begin(),
+ &logging_callback);
+ }
+
+ StateUpdatingCallback updating_callback(program, parameters);
+ if (options.update_state_every_iteration) {
+ // This must get pushed to the front of the callbacks so that it is run
+ // before any of the user callbacks.
+ minimizer_options.callbacks.insert(minimizer_options.callbacks.begin(),
+ &updating_callback);
+ }
+
+ minimizer_options.evaluator = evaluator;
+ scoped_ptr<SparseMatrix> jacobian(evaluator->CreateJacobian());
+ minimizer_options.jacobian = jacobian.get();
+ minimizer_options.inner_iteration_minimizer = inner_iteration_minimizer;
+
+ TrustRegionStrategy::Options trust_region_strategy_options;
+ trust_region_strategy_options.linear_solver = linear_solver;
+ trust_region_strategy_options.initial_radius =
+ options.initial_trust_region_radius;
+ trust_region_strategy_options.max_radius = options.max_trust_region_radius;
+ trust_region_strategy_options.lm_min_diagonal = options.lm_min_diagonal;
+ trust_region_strategy_options.lm_max_diagonal = options.lm_max_diagonal;
+ trust_region_strategy_options.trust_region_strategy_type =
+ options.trust_region_strategy_type;
+ trust_region_strategy_options.dogleg_type = options.dogleg_type;
+ scoped_ptr<TrustRegionStrategy> strategy(
+ TrustRegionStrategy::Create(trust_region_strategy_options));
+ minimizer_options.trust_region_strategy = strategy.get();
+
+ TrustRegionMinimizer minimizer;
+ double minimizer_start_time = WallTimeInSeconds();
+ minimizer.Minimize(minimizer_options, parameters, summary);
+ summary->minimizer_time_in_seconds =
+ WallTimeInSeconds() - minimizer_start_time;
+}
+
+void SolverImpl::Solve(const Solver::Options& original_options,
+ ProblemImpl* original_problem_impl,
+ Solver::Summary* summary) {
+ double solver_start_time = WallTimeInSeconds();
+
+ Program* original_program = original_problem_impl->mutable_program();
+ ProblemImpl* problem_impl = original_problem_impl;
+
+ // Reset the summary object to its default values.
+ *CHECK_NOTNULL(summary) = Solver::Summary();
+
+ summary->num_parameter_blocks = problem_impl->NumParameterBlocks();
+ summary->num_parameters = problem_impl->NumParameters();
+ summary->num_residual_blocks = problem_impl->NumResidualBlocks();
+ summary->num_residuals = problem_impl->NumResiduals();
+
+ // Empty programs are usually a user error.
+ if (summary->num_parameter_blocks == 0) {
+ summary->error = "Problem contains no parameter blocks.";
+ LOG(ERROR) << summary->error;
+ return;
+ }
+
+ if (summary->num_residual_blocks == 0) {
+ summary->error = "Problem contains no residual blocks.";
+ LOG(ERROR) << summary->error;
+ return;
+ }
+
+ Solver::Options options(original_options);
+ options.linear_solver_ordering = NULL;
+ options.inner_iteration_ordering = NULL;
+
+#ifndef CERES_USE_OPENMP
+ if (options.num_threads > 1) {
+ LOG(WARNING)
+ << "OpenMP support is not compiled into this binary; "
+ << "only options.num_threads=1 is supported. Switching "
+ << "to single threaded mode.";
+ options.num_threads = 1;
+ }
+ if (options.num_linear_solver_threads > 1) {
+ LOG(WARNING)
+ << "OpenMP support is not compiled into this binary; "
+ << "only options.num_linear_solver_threads=1 is supported. Switching "
+ << "to single threaded mode.";
+ options.num_linear_solver_threads = 1;
+ }
+#endif
+
+ summary->num_threads_given = original_options.num_threads;
+ summary->num_threads_used = options.num_threads;
+
+ if (options.lsqp_iterations_to_dump.size() > 0) {
+ LOG(WARNING) << "Dumping linear least squares problems to disk is"
+ " currently broken. Ignoring Solver::Options::lsqp_iterations_to_dump";
+ }
+
+ // Evaluate the initial cost, residual vector and the jacobian
+ // matrix if requested by the user. The initial cost needs to be
+ // computed on the original unpreprocessed problem, as it is used to
+ // determine the value of the "fixed" part of the objective function
+ // after the problem has undergone reduction.
+ if (!Evaluator::Evaluate(original_program,
+ options.num_threads,
+ &(summary->initial_cost),
+ options.return_initial_residuals
+ ? &summary->initial_residuals
+ : NULL,
+ options.return_initial_gradient
+ ? &summary->initial_gradient
+ : NULL,
+ options.return_initial_jacobian
+ ? &summary->initial_jacobian
+ : NULL)) {
+ summary->termination_type = NUMERICAL_FAILURE;
+ summary->error = "Unable to evaluate the initial cost.";
+ LOG(ERROR) << summary->error;
+ return;
+ }
+
+ original_program->SetParameterBlockStatePtrsToUserStatePtrs();
+
+ // If the user requests gradient checking, construct a new
+ // ProblemImpl by wrapping the CostFunctions of problem_impl inside
+ // GradientCheckingCostFunction and replacing problem_impl with
+ // gradient_checking_problem_impl.
+ scoped_ptr<ProblemImpl> gradient_checking_problem_impl;
+ if (options.check_gradients) {
+ VLOG(1) << "Checking Gradients";
+ gradient_checking_problem_impl.reset(
+ CreateGradientCheckingProblemImpl(
+ problem_impl,
+ options.numeric_derivative_relative_step_size,
+ options.gradient_check_relative_precision));
+
+ // From here on, problem_impl will point to the gradient checking
+ // version.
+ problem_impl = gradient_checking_problem_impl.get();
+ }
+
+ if (original_options.linear_solver_ordering != NULL) {
+ if (!IsOrderingValid(original_options, problem_impl, &summary->error)) {
+ LOG(ERROR) << summary->error;
+ return;
+ }
+ options.linear_solver_ordering =
+ new ParameterBlockOrdering(*original_options.linear_solver_ordering);
+ } else {
+ options.linear_solver_ordering = new ParameterBlockOrdering;
+ const ProblemImpl::ParameterMap& parameter_map =
+ problem_impl->parameter_map();
+ for (ProblemImpl::ParameterMap::const_iterator it = parameter_map.begin();
+ it != parameter_map.end();
+ ++it) {
+ options.linear_solver_ordering->AddElementToGroup(it->first, 0);
+ }
+ }
+
+ // Create the three objects needed to minimize: the transformed program, the
+ // evaluator, and the linear solver.
+ scoped_ptr<Program> reduced_program(CreateReducedProgram(&options,
+ problem_impl,
+ &summary->fixed_cost,
+ &summary->error));
+ if (reduced_program == NULL) {
+ return;
+ }
+
+ summary->num_parameter_blocks_reduced = reduced_program->NumParameterBlocks();
+ summary->num_parameters_reduced = reduced_program->NumParameters();
+ summary->num_residual_blocks_reduced = reduced_program->NumResidualBlocks();
+ summary->num_residuals_reduced = reduced_program->NumResiduals();
+
+ if (summary->num_parameter_blocks_reduced == 0) {
+ summary->preprocessor_time_in_seconds =
+ WallTimeInSeconds() - solver_start_time;
+
+ LOG(INFO) << "Terminating: FUNCTION_TOLERANCE reached. "
+ << "No non-constant parameter blocks found.";
+
+ // FUNCTION_TOLERANCE is the right convergence here, as we know
+ // that the objective function is constant and cannot be changed
+ // any further.
+ summary->termination_type = FUNCTION_TOLERANCE;
+
+ double post_process_start_time = WallTimeInSeconds();
+ // Evaluate the final cost, residual vector and the jacobian
+ // matrix if requested by the user.
+ if (!Evaluator::Evaluate(original_program,
+ options.num_threads,
+ &summary->final_cost,
+ options.return_final_residuals
+ ? &summary->final_residuals
+ : NULL,
+ options.return_final_gradient
+ ? &summary->final_gradient
+ : NULL,
+ options.return_final_jacobian
+ ? &summary->final_jacobian
+ : NULL)) {
+ summary->termination_type = NUMERICAL_FAILURE;
+ summary->error = "Unable to evaluate the final cost.";
+ LOG(ERROR) << summary->error;
+ return;
+ }
+
+ // Ensure the program state is set to the user parameters on the way out.
+ original_program->SetParameterBlockStatePtrsToUserStatePtrs();
+
+ summary->postprocessor_time_in_seconds =
+ WallTimeInSeconds() - post_process_start_time;
+ return;
+ }
+
+ scoped_ptr<LinearSolver>
+ linear_solver(CreateLinearSolver(&options, &summary->error));
+ if (linear_solver == NULL) {
+ return;
+ }
+
+ summary->linear_solver_type_given = original_options.linear_solver_type;
+ summary->linear_solver_type_used = options.linear_solver_type;
+
+ summary->preconditioner_type = options.preconditioner_type;
+
+ summary->num_linear_solver_threads_given =
+ original_options.num_linear_solver_threads;
+ summary->num_linear_solver_threads_used = options.num_linear_solver_threads;
+
+ summary->sparse_linear_algebra_library =
+ options.sparse_linear_algebra_library;
+
+ summary->trust_region_strategy_type = options.trust_region_strategy_type;
+ summary->dogleg_type = options.dogleg_type;
+
+ // Only Schur types require the lexicographic reordering.
+ if (IsSchurType(options.linear_solver_type)) {
+ const int num_eliminate_blocks =
+ options.linear_solver_ordering
+ ->group_to_elements().begin()
+ ->second.size();
+ if (!LexicographicallyOrderResidualBlocks(num_eliminate_blocks,
+ reduced_program.get(),
+ &summary->error)) {
+ return;
+ }
+ }
+
+ scoped_ptr<Evaluator> evaluator(CreateEvaluator(options,
+ problem_impl->parameter_map(),
+ reduced_program.get(),
+ &summary->error));
+ if (evaluator == NULL) {
+ return;
+ }
+
+ scoped_ptr<CoordinateDescentMinimizer> inner_iteration_minimizer;
+ if (options.use_inner_iterations) {
+ if (reduced_program->parameter_blocks().size() < 2) {
+ LOG(WARNING) << "Reduced problem only contains one parameter block."
+ << "Disabling inner iterations.";
+ } else {
+ inner_iteration_minimizer.reset(
+ CreateInnerIterationMinimizer(original_options,
+ *reduced_program,
+ problem_impl->parameter_map(),
+ &summary->error));
+ if (inner_iteration_minimizer == NULL) {
+ LOG(ERROR) << summary->error;
+ return;
+ }
+ }
+ }
+
+ // The optimizer works on contiguous parameter vectors; allocate some.
+ Vector parameters(reduced_program->NumParameters());
+
+ // Collect the discontiguous parameters into a contiguous state vector.
+ reduced_program->ParameterBlocksToStateVector(parameters.data());
+
+ Vector original_parameters = parameters;
+
+ double minimizer_start_time = WallTimeInSeconds();
+ summary->preprocessor_time_in_seconds =
+ minimizer_start_time - solver_start_time;
+
+ // Run the optimization.
+ Minimize(options,
+ reduced_program.get(),
+ inner_iteration_minimizer.get(),
+ evaluator.get(),
+ linear_solver.get(),
+ parameters.data(),
+ summary);
+
+ // If the user aborted mid-optimization or the optimization
+ // terminated because of a numerical failure, then return without
+ // updating user state.
+ if (summary->termination_type == USER_ABORT ||
+ summary->termination_type == NUMERICAL_FAILURE) {
+ return;
+ }
+
+ double post_process_start_time = WallTimeInSeconds();
+
+ // Push the contiguous optimized parameters back to the user's parameters.
+ reduced_program->StateVectorToParameterBlocks(parameters.data());
+ reduced_program->CopyParameterBlockStateToUserState();
+
+ // Evaluate the final cost, residual vector and the jacobian
+ // matrix if requested by the user.
+ if (!Evaluator::Evaluate(original_program,
+ options.num_threads,
+ &summary->final_cost,
+ options.return_final_residuals
+ ? &summary->final_residuals
+ : NULL,
+ options.return_final_gradient
+ ? &summary->final_gradient
+ : NULL,
+ options.return_final_jacobian
+ ? &summary->final_jacobian
+ : NULL)) {
+ // This failure requires careful handling.
+ //
+ // At this point, we have modified the user's state, but the
+ // evaluation failed and we inform him of NUMERICAL_FAILURE. Ceres
+ // guarantees that user's state is not modified if the solver
+ // returns with NUMERICAL_FAILURE. Thus, we need to restore the
+ // user's state to their original values.
+
+ reduced_program->StateVectorToParameterBlocks(original_parameters.data());
+ reduced_program->CopyParameterBlockStateToUserState();
+
+ summary->termination_type = NUMERICAL_FAILURE;
+ summary->error = "Unable to evaluate the final cost.";
+ LOG(ERROR) << summary->error;
+ return;
+ }
+
+ // Ensure the program state is set to the user parameters on the way out.
+ original_program->SetParameterBlockStatePtrsToUserStatePtrs();
+
+ // Stick a fork in it, we're done.
+ summary->postprocessor_time_in_seconds =
+ WallTimeInSeconds() - post_process_start_time;
+}
+
+bool SolverImpl::IsOrderingValid(const Solver::Options& options,
+ const ProblemImpl* problem_impl,
+ string* error) {
+ if (options.linear_solver_ordering->NumElements() !=
+ problem_impl->NumParameterBlocks()) {
+ *error = "Number of parameter blocks in user supplied ordering "
+ "does not match the number of parameter blocks in the problem";
+ return false;
+ }
+
+ const Program& program = problem_impl->program();
+ const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks();
+ for (vector<ParameterBlock*>::const_iterator it = parameter_blocks.begin();
+ it != parameter_blocks.end();
+ ++it) {
+ if (!options.linear_solver_ordering
+ ->IsMember(const_cast<double*>((*it)->user_state()))) {
+ *error = "Problem contains a parameter block that is not in "
+ "the user specified ordering.";
+ return false;
+ }
+ }
+
+ if (IsSchurType(options.linear_solver_type) &&
+ options.linear_solver_ordering->NumGroups() > 1) {
+ const vector<ResidualBlock*>& residual_blocks = program.residual_blocks();
+ const set<double*>& e_blocks =
+ options.linear_solver_ordering->group_to_elements().begin()->second;
+ if (!IsParameterBlockSetIndependent(e_blocks, residual_blocks)) {
+ *error = "The user requested the use of a Schur type solver. "
+ "But the first elimination group in the ordering is not an "
+ "independent set.";
+ return false;
+ }
+ }
+ return true;
+}
+
+bool SolverImpl::IsParameterBlockSetIndependent(const set<double*>& parameter_block_ptrs,
+ const vector<ResidualBlock*>& residual_blocks) {
+ // Loop over each residual block and ensure that no two parameter
+ // blocks in the same residual block are part of
+ // parameter_block_ptrs as that would violate the assumption that it
+ // is an independent set in the Hessian matrix.
+ for (vector<ResidualBlock*>::const_iterator it = residual_blocks.begin();
+ it != residual_blocks.end();
+ ++it) {
+ ParameterBlock* const* parameter_blocks = (*it)->parameter_blocks();
+ const int num_parameter_blocks = (*it)->NumParameterBlocks();
+ int count = 0;
+ for (int i = 0; i < num_parameter_blocks; ++i) {
+ count += parameter_block_ptrs.count(
+ parameter_blocks[i]->mutable_user_state());
+ }
+ if (count > 1) {
+ return false;
+ }
+ }
+ return true;
+}
+
+
+// Strips varying parameters and residuals, maintaining order, and updating
+// num_eliminate_blocks.
+bool SolverImpl::RemoveFixedBlocksFromProgram(Program* program,
+ ParameterBlockOrdering* ordering,
+ double* fixed_cost,
+ string* error) {
+ vector<ParameterBlock*>* parameter_blocks =
+ program->mutable_parameter_blocks();
+
+ scoped_array<double> residual_block_evaluate_scratch;
+ if (fixed_cost != NULL) {
+ residual_block_evaluate_scratch.reset(
+ new double[program->MaxScratchDoublesNeededForEvaluate()]);
+ *fixed_cost = 0.0;
+ }
+
+ // Mark all the parameters as unused. Abuse the index member of the parameter
+ // blocks for the marking.
+ for (int i = 0; i < parameter_blocks->size(); ++i) {
+ (*parameter_blocks)[i]->set_index(-1);
+ }
+
+ // Filter out residual that have all-constant parameters, and mark all the
+ // parameter blocks that appear in residuals.
+ {
+ vector<ResidualBlock*>* residual_blocks =
+ program->mutable_residual_blocks();
+ int j = 0;
+ for (int i = 0; i < residual_blocks->size(); ++i) {
+ ResidualBlock* residual_block = (*residual_blocks)[i];
+ int num_parameter_blocks = residual_block->NumParameterBlocks();
+
+ // Determine if the residual block is fixed, and also mark varying
+ // parameters that appear in the residual block.
+ bool all_constant = true;
+ for (int k = 0; k < num_parameter_blocks; k++) {
+ ParameterBlock* parameter_block = residual_block->parameter_blocks()[k];
+ if (!parameter_block->IsConstant()) {
+ all_constant = false;
+ parameter_block->set_index(1);
+ }
+ }
+
+ if (!all_constant) {
+ (*residual_blocks)[j++] = (*residual_blocks)[i];
+ } else if (fixed_cost != NULL) {
+ // The residual is constant and will be removed, so its cost is
+ // added to the variable fixed_cost.
+ double cost = 0.0;
+ if (!residual_block->Evaluate(
+ &cost, NULL, NULL, residual_block_evaluate_scratch.get())) {
+ *error = StringPrintf("Evaluation of the residual %d failed during "
+ "removal of fixed residual blocks.", i);
+ return false;
+ }
+ *fixed_cost += cost;
+ }
+ }
+ residual_blocks->resize(j);
+ }
+
+ // Filter out unused or fixed parameter blocks, and update
+ // the ordering.
+ {
+ vector<ParameterBlock*>* parameter_blocks =
+ program->mutable_parameter_blocks();
+ int j = 0;
+ for (int i = 0; i < parameter_blocks->size(); ++i) {
+ ParameterBlock* parameter_block = (*parameter_blocks)[i];
+ if (parameter_block->index() == 1) {
+ (*parameter_blocks)[j++] = parameter_block;
+ } else {
+ ordering->Remove(parameter_block->mutable_user_state());
+ }
+ }
+ parameter_blocks->resize(j);
+ }
+
+ CHECK(((program->NumResidualBlocks() == 0) &&
+ (program->NumParameterBlocks() == 0)) ||
+ ((program->NumResidualBlocks() != 0) &&
+ (program->NumParameterBlocks() != 0)))
+ << "Congratulations, you found a bug in Ceres. Please report it.";
+ return true;
+}
+
+Program* SolverImpl::CreateReducedProgram(Solver::Options* options,
+ ProblemImpl* problem_impl,
+ double* fixed_cost,
+ string* error) {
+ CHECK_NOTNULL(options->linear_solver_ordering);
+ Program* original_program = problem_impl->mutable_program();
+ scoped_ptr<Program> transformed_program(new Program(*original_program));
+ ParameterBlockOrdering* linear_solver_ordering =
+ options->linear_solver_ordering;
+
+ const int min_group_id =
+ linear_solver_ordering->group_to_elements().begin()->first;
+ const int original_num_groups = linear_solver_ordering->NumGroups();
+
+ if (!RemoveFixedBlocksFromProgram(transformed_program.get(),
+ linear_solver_ordering,
+ fixed_cost,
+ error)) {
+ return NULL;
+ }
+
+ if (transformed_program->NumParameterBlocks() == 0) {
+ if (transformed_program->NumResidualBlocks() > 0) {
+ *error = "Zero parameter blocks but non-zero residual blocks"
+ " in the reduced program. Congratulations, you found a "
+ "Ceres bug! Please report this error to the developers.";
+ return NULL;
+ }
+
+ LOG(WARNING) << "No varying parameter blocks to optimize; "
+ << "bailing early.";
+ return transformed_program.release();
+ }
+
+ // If the user supplied an linear_solver_ordering with just one
+ // group, it is equivalent to the user supplying NULL as
+ // ordering. Ceres is completely free to choose the parameter block
+ // ordering as it sees fit. For Schur type solvers, this means that
+ // the user wishes for Ceres to identify the e_blocks, which we do
+ // by computing a maximal independent set.
+ if (original_num_groups == 1 && IsSchurType(options->linear_solver_type)) {
+ vector<ParameterBlock*> schur_ordering;
+ const int num_eliminate_blocks = ComputeSchurOrdering(*transformed_program,
+ &schur_ordering);
+ CHECK_EQ(schur_ordering.size(), transformed_program->NumParameterBlocks())
+ << "Congratulations, you found a Ceres bug! Please report this error "
+ << "to the developers.";
+
+ for (int i = 0; i < schur_ordering.size(); ++i) {
+ linear_solver_ordering->AddElementToGroup(
+ schur_ordering[i]->mutable_user_state(),
+ (i < num_eliminate_blocks) ? 0 : 1);
+ }
+ }
+
+ if (!ApplyUserOrdering(problem_impl->parameter_map(),
+ linear_solver_ordering,
+ transformed_program.get(),
+ error)) {
+ return NULL;
+ }
+
+ // If the user requested the use of a Schur type solver, and
+ // supplied a non-NULL linear_solver_ordering object with more than
+ // one elimination group, then it can happen that after all the
+ // parameter blocks which are fixed or unused have been removed from
+ // the program and the ordering, there are no more parameter blocks
+ // in the first elimination group.
+ //
+ // In such a case, the use of a Schur type solver is not possible,
+ // as they assume there is at least one e_block. Thus, we
+ // automatically switch to one of the other solvers, depending on
+ // the user's indicated preferences.
+ if (IsSchurType(options->linear_solver_type) &&
+ original_num_groups > 1 &&
+ linear_solver_ordering->GroupSize(min_group_id) == 0) {
+ string msg = "No e_blocks remaining. Switching from ";
+ if (options->linear_solver_type == SPARSE_SCHUR) {
+ options->linear_solver_type = SPARSE_NORMAL_CHOLESKY;
+ msg += "SPARSE_SCHUR to SPARSE_NORMAL_CHOLESKY.";
+ } else if (options->linear_solver_type == DENSE_SCHUR) {
+ // TODO(sameeragarwal): This is probably not a great choice.
+ // Ideally, we should have a DENSE_NORMAL_CHOLESKY, that can
+ // take a BlockSparseMatrix as input.
+ options->linear_solver_type = DENSE_QR;
+ msg += "DENSE_SCHUR to DENSE_QR.";
+ } else if (options->linear_solver_type == ITERATIVE_SCHUR) {
+ msg += StringPrintf("ITERATIVE_SCHUR with %s preconditioner "
+ "to CGNR with JACOBI preconditioner.",
+ PreconditionerTypeToString(
+ options->preconditioner_type));
+ options->linear_solver_type = CGNR;
+ if (options->preconditioner_type != IDENTITY) {
+ // CGNR currently only supports the JACOBI preconditioner.
+ options->preconditioner_type = JACOBI;
+ }
+ }
+
+ LOG(WARNING) << msg;
+ }
+
+ // Since the transformed program is the "active" program, and it is mutated,
+ // update the parameter offsets and indices.
+ transformed_program->SetParameterOffsetsAndIndex();
+ return transformed_program.release();
+}
+
+LinearSolver* SolverImpl::CreateLinearSolver(Solver::Options* options,
+ string* error) {
+ CHECK_NOTNULL(options);
+ CHECK_NOTNULL(options->linear_solver_ordering);
+ CHECK_NOTNULL(error);
+
+ if (options->trust_region_strategy_type == DOGLEG) {
+ if (options->linear_solver_type == ITERATIVE_SCHUR ||
+ options->linear_solver_type == CGNR) {
+ *error = "DOGLEG only supports exact factorization based linear "
+ "solvers. If you want to use an iterative solver please "
+ "use LEVENBERG_MARQUARDT as the trust_region_strategy_type";
+ return NULL;
+ }
+ }
+
+#ifdef CERES_NO_SUITESPARSE
+ if (options->linear_solver_type == SPARSE_NORMAL_CHOLESKY &&
+ options->sparse_linear_algebra_library == SUITE_SPARSE) {
+ *error = "Can't use SPARSE_NORMAL_CHOLESKY with SUITESPARSE because "
+ "SuiteSparse was not enabled when Ceres was built.";
+ return NULL;
+ }
+
+ if (options->preconditioner_type == SCHUR_JACOBI) {
+ *error = "SCHUR_JACOBI preconditioner not suppored. Please build Ceres "
+ "with SuiteSparse support.";
+ return NULL;
+ }
+
+ if (options->preconditioner_type == CLUSTER_JACOBI) {
+ *error = "CLUSTER_JACOBI preconditioner not suppored. Please build Ceres "
+ "with SuiteSparse support.";
+ return NULL;
+ }
+
+ if (options->preconditioner_type == CLUSTER_TRIDIAGONAL) {
+ *error = "CLUSTER_TRIDIAGONAL preconditioner not suppored. Please build "
+ "Ceres with SuiteSparse support.";
+ return NULL;
+ }
+#endif
+
+#ifdef CERES_NO_CXSPARSE
+ if (options->linear_solver_type == SPARSE_NORMAL_CHOLESKY &&
+ options->sparse_linear_algebra_library == CX_SPARSE) {
+ *error = "Can't use SPARSE_NORMAL_CHOLESKY with CXSPARSE because "
+ "CXSparse was not enabled when Ceres was built.";
+ return NULL;
+ }
+#endif
+
+#if defined(CERES_NO_SUITESPARSE) && defined(CERES_NO_CXSPARSE)
+ if (options->linear_solver_type == SPARSE_SCHUR) {
+ *error = "Can't use SPARSE_SCHUR because neither SuiteSparse nor"
+ "CXSparse was enabled when Ceres was compiled.";
+ return NULL;
+ }
+#endif
+
+ if (options->linear_solver_max_num_iterations <= 0) {
+ *error = "Solver::Options::linear_solver_max_num_iterations is 0.";
+ return NULL;
+ }
+ if (options->linear_solver_min_num_iterations <= 0) {
+ *error = "Solver::Options::linear_solver_min_num_iterations is 0.";
+ return NULL;
+ }
+ if (options->linear_solver_min_num_iterations >
+ options->linear_solver_max_num_iterations) {
+ *error = "Solver::Options::linear_solver_min_num_iterations > "
+ "Solver::Options::linear_solver_max_num_iterations.";
+ return NULL;
+ }
+
+ LinearSolver::Options linear_solver_options;
+ linear_solver_options.min_num_iterations =
+ options->linear_solver_min_num_iterations;
+ linear_solver_options.max_num_iterations =
+ options->linear_solver_max_num_iterations;
+ linear_solver_options.type = options->linear_solver_type;
+ linear_solver_options.preconditioner_type = options->preconditioner_type;
+ linear_solver_options.sparse_linear_algebra_library =
+ options->sparse_linear_algebra_library;
+
+ linear_solver_options.num_threads = options->num_linear_solver_threads;
+ // The matrix used for storing the dense Schur complement has a
+ // single lock guarding the whole matrix. Running the
+ // SchurComplementSolver with multiple threads leads to maximum
+ // contention and slowdown. If the problem is large enough to
+ // benefit from a multithreaded schur eliminator, you should be
+ // using a SPARSE_SCHUR solver anyways.
+ if ((linear_solver_options.num_threads > 1) &&
+ (linear_solver_options.type == DENSE_SCHUR)) {
+ LOG(WARNING) << "Warning: Solver::Options::num_linear_solver_threads = "
+ << options->num_linear_solver_threads
+ << " with DENSE_SCHUR will result in poor performance; "
+ << "switching to single-threaded.";
+ linear_solver_options.num_threads = 1;
+ }
+ options->num_linear_solver_threads = linear_solver_options.num_threads;
+
+ linear_solver_options.use_block_amd = options->use_block_amd;
+ const map<int, set<double*> >& groups =
+ options->linear_solver_ordering->group_to_elements();
+ for (map<int, set<double*> >::const_iterator it = groups.begin();
+ it != groups.end();
+ ++it) {
+ linear_solver_options.elimination_groups.push_back(it->second.size());
+ }
+ // Schur type solvers, expect at least two elimination groups. If
+ // there is only one elimination group, then CreateReducedProgram
+ // guarantees that this group only contains e_blocks. Thus we add a
+ // dummy elimination group with zero blocks in it.
+ if (IsSchurType(linear_solver_options.type) &&
+ linear_solver_options.elimination_groups.size() == 1) {
+ linear_solver_options.elimination_groups.push_back(0);
+ }
+
+ return LinearSolver::Create(linear_solver_options);
+}
+
+bool SolverImpl::ApplyUserOrdering(const ProblemImpl::ParameterMap& parameter_map,
+ const ParameterBlockOrdering* ordering,
+ Program* program,
+ string* error) {
+ if (ordering->NumElements() != program->NumParameterBlocks()) {
+ *error = StringPrintf("User specified ordering does not have the same "
+ "number of parameters as the problem. The problem"
+ "has %d blocks while the ordering has %d blocks.",
+ program->NumParameterBlocks(),
+ ordering->NumElements());
+ return false;
+ }
+
+ vector<ParameterBlock*>* parameter_blocks =
+ program->mutable_parameter_blocks();
+ parameter_blocks->clear();
+
+ const map<int, set<double*> >& groups =
+ ordering->group_to_elements();
+
+ for (map<int, set<double*> >::const_iterator group_it = groups.begin();
+ group_it != groups.end();
+ ++group_it) {
+ const set<double*>& group = group_it->second;
+ for (set<double*>::const_iterator parameter_block_ptr_it = group.begin();
+ parameter_block_ptr_it != group.end();
+ ++parameter_block_ptr_it) {
+ ProblemImpl::ParameterMap::const_iterator parameter_block_it =
+ parameter_map.find(*parameter_block_ptr_it);
+ if (parameter_block_it == parameter_map.end()) {
+ *error = StringPrintf("User specified ordering contains a pointer "
+ "to a double that is not a parameter block in the "
+ "problem. The invalid double is in group: %d",
+ group_it->first);
+ return false;
+ }
+ parameter_blocks->push_back(parameter_block_it->second);
+ }
+ }
+ return true;
+}
+
+// Find the minimum index of any parameter block to the given residual.
+// Parameter blocks that have indices greater than num_eliminate_blocks are
+// considered to have an index equal to num_eliminate_blocks.
+int MinParameterBlock(const ResidualBlock* residual_block,
+ int num_eliminate_blocks) {
+ int min_parameter_block_position = num_eliminate_blocks;
+ for (int i = 0; i < residual_block->NumParameterBlocks(); ++i) {
+ ParameterBlock* parameter_block = residual_block->parameter_blocks()[i];
+ if (!parameter_block->IsConstant()) {
+ CHECK_NE(parameter_block->index(), -1)
+ << "Did you forget to call Program::SetParameterOffsetsAndIndex()? "
+ << "This is a Ceres bug; please contact the developers!";
+ min_parameter_block_position = std::min(parameter_block->index(),
+ min_parameter_block_position);
+ }
+ }
+ return min_parameter_block_position;
+}
+
+// Reorder the residuals for program, if necessary, so that the residuals
+// involving each E block occur together. This is a necessary condition for the
+// Schur eliminator, which works on these "row blocks" in the jacobian.
+bool SolverImpl::LexicographicallyOrderResidualBlocks(const int num_eliminate_blocks,
+ Program* program,
+ string* error) {
+ CHECK_GE(num_eliminate_blocks, 1)
+ << "Congratulations, you found a Ceres bug! Please report this error "
+ << "to the developers.";
+
+ // Create a histogram of the number of residuals for each E block. There is an
+ // extra bucket at the end to catch all non-eliminated F blocks.
+ vector<int> residual_blocks_per_e_block(num_eliminate_blocks + 1);
+ vector<ResidualBlock*>* residual_blocks = program->mutable_residual_blocks();
+ vector<int> min_position_per_residual(residual_blocks->size());
+ for (int i = 0; i < residual_blocks->size(); ++i) {
+ ResidualBlock* residual_block = (*residual_blocks)[i];
+ int position = MinParameterBlock(residual_block, num_eliminate_blocks);
+ min_position_per_residual[i] = position;
+ DCHECK_LE(position, num_eliminate_blocks);
+ residual_blocks_per_e_block[position]++;
+ }
+
+ // Run a cumulative sum on the histogram, to obtain offsets to the start of
+ // each histogram bucket (where each bucket is for the residuals for that
+ // E-block).
+ vector<int> offsets(num_eliminate_blocks + 1);
+ std::partial_sum(residual_blocks_per_e_block.begin(),
+ residual_blocks_per_e_block.end(),
+ offsets.begin());
+ CHECK_EQ(offsets.back(), residual_blocks->size())
+ << "Congratulations, you found a Ceres bug! Please report this error "
+ << "to the developers.";
+
+ CHECK(find(residual_blocks_per_e_block.begin(),
+ residual_blocks_per_e_block.end() - 1, 0) !=
+ residual_blocks_per_e_block.end())
+ << "Congratulations, you found a Ceres bug! Please report this error "
+ << "to the developers.";
+
+ // Fill in each bucket with the residual blocks for its corresponding E block.
+ // Each bucket is individually filled from the back of the bucket to the front
+ // of the bucket. The filling order among the buckets is dictated by the
+ // residual blocks. This loop uses the offsets as counters; subtracting one
+ // from each offset as a residual block is placed in the bucket. When the
+ // filling is finished, the offset pointerts should have shifted down one
+ // entry (this is verified below).
+ vector<ResidualBlock*> reordered_residual_blocks(
+ (*residual_blocks).size(), static_cast<ResidualBlock*>(NULL));
+ for (int i = 0; i < residual_blocks->size(); ++i) {
+ int bucket = min_position_per_residual[i];
+
+ // Decrement the cursor, which should now point at the next empty position.
+ offsets[bucket]--;
+
+ // Sanity.
+ CHECK(reordered_residual_blocks[offsets[bucket]] == NULL)
+ << "Congratulations, you found a Ceres bug! Please report this error "
+ << "to the developers.";
+
+ reordered_residual_blocks[offsets[bucket]] = (*residual_blocks)[i];
+ }
+
+ // Sanity check #1: The difference in bucket offsets should match the
+ // histogram sizes.
+ for (int i = 0; i < num_eliminate_blocks; ++i) {
+ CHECK_EQ(residual_blocks_per_e_block[i], offsets[i + 1] - offsets[i])
+ << "Congratulations, you found a Ceres bug! Please report this error "
+ << "to the developers.";
+ }
+ // Sanity check #2: No NULL's left behind.
+ for (int i = 0; i < reordered_residual_blocks.size(); ++i) {
+ CHECK(reordered_residual_blocks[i] != NULL)
+ << "Congratulations, you found a Ceres bug! Please report this error "
+ << "to the developers.";
+ }
+
+ // Now that the residuals are collected by E block, swap them in place.
+ swap(*program->mutable_residual_blocks(), reordered_residual_blocks);
+ return true;
+}
+
+Evaluator* SolverImpl::CreateEvaluator(const Solver::Options& options,
+ const ProblemImpl::ParameterMap& parameter_map,
+ Program* program,
+ string* error) {
+ Evaluator::Options evaluator_options;
+ evaluator_options.linear_solver_type = options.linear_solver_type;
+ evaluator_options.num_eliminate_blocks =
+ (options.linear_solver_ordering->NumGroups() > 0 &&
+ IsSchurType(options.linear_solver_type))
+ ? (options.linear_solver_ordering
+ ->group_to_elements().begin()
+ ->second.size())
+ : 0;
+ evaluator_options.num_threads = options.num_threads;
+ return Evaluator::Create(evaluator_options, program, error);
+}
+
+CoordinateDescentMinimizer* SolverImpl::CreateInnerIterationMinimizer(
+ const Solver::Options& options,
+ const Program& program,
+ const ProblemImpl::ParameterMap& parameter_map,
+ string* error) {
+ scoped_ptr<CoordinateDescentMinimizer> inner_iteration_minimizer(
+ new CoordinateDescentMinimizer);
+ scoped_ptr<ParameterBlockOrdering> inner_iteration_ordering;
+ ParameterBlockOrdering* ordering_ptr = NULL;
+
+ if (options.inner_iteration_ordering == NULL) {
+ // Find a recursive decomposition of the Hessian matrix as a set
+ // of independent sets of decreasing size and invert it. This
+ // seems to work better in practice, i.e., Cameras before
+ // points.
+ inner_iteration_ordering.reset(new ParameterBlockOrdering);
+ ComputeRecursiveIndependentSetOrdering(program,
+ inner_iteration_ordering.get());
+ inner_iteration_ordering->Reverse();
+ ordering_ptr = inner_iteration_ordering.get();
+ } else {
+ const map<int, set<double*> >& group_to_elements =
+ options.inner_iteration_ordering->group_to_elements();
+
+ // Iterate over each group and verify that it is an independent
+ // set.
+ map<int, set<double*> >::const_iterator it = group_to_elements.begin();
+ for ( ;it != group_to_elements.end(); ++it) {
+ if (!IsParameterBlockSetIndependent(it->second,
+ program.residual_blocks())) {
+ *error =
+ StringPrintf("The user-provided "
+ "parameter_blocks_for_inner_iterations does not "
+ "form an independent set. Group Id: %d", it->first);
+ return NULL;
+ }
+ }
+ ordering_ptr = options.inner_iteration_ordering;
+ }
+
+ if (!inner_iteration_minimizer->Init(program,
+ parameter_map,
+ *ordering_ptr,
+ error)) {
+ return NULL;
+ }
+
+ return inner_iteration_minimizer.release();
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/solver_impl.h b/internal/ceres/solver_impl.h
new file mode 100644
index 0000000..09141ae
--- /dev/null
+++ b/internal/ceres/solver_impl.h
@@ -0,0 +1,140 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#ifndef CERES_INTERNAL_SOLVER_IMPL_H_
+#define CERES_INTERNAL_SOLVER_IMPL_H_
+
+#include <string>
+#include <vector>
+#include "ceres/internal/port.h"
+#include "ceres/ordered_groups.h"
+#include "ceres/problem_impl.h"
+#include "ceres/solver.h"
+
+namespace ceres {
+namespace internal {
+
+class CoordinateDescentMinimizer;
+class Evaluator;
+class LinearSolver;
+class Program;
+
+class SolverImpl {
+ public:
+ // Mirrors the interface in solver.h, but exposes implementation
+ // details for testing internally.
+ static void Solve(const Solver::Options& options,
+ ProblemImpl* problem_impl,
+ Solver::Summary* summary);
+
+ // Create the transformed Program, which has all the fixed blocks
+ // and residuals eliminated, and in the case of automatic schur
+ // ordering, has the E blocks first in the resulting program, with
+ // options.num_eliminate_blocks set appropriately.
+ //
+ // If fixed_cost is not NULL, the residual blocks that are removed
+ // are evaluated and the sum of their cost is returned in fixed_cost.
+ static Program* CreateReducedProgram(Solver::Options* options,
+ ProblemImpl* problem_impl,
+ double* fixed_cost,
+ string* error);
+
+ // Create the appropriate linear solver, taking into account any
+ // config changes decided by CreateTransformedProgram(). The
+ // selected linear solver, which may be different from what the user
+ // selected; consider the case that the remaining elimininated
+ // blocks is zero after removing fixed blocks.
+ static LinearSolver* CreateLinearSolver(Solver::Options* options,
+ string* error);
+
+ // Reorder the parameter blocks in program using the ordering. A
+ // return value of true indicates success and false indicates an
+ // error was encountered whose cause is logged to LOG(ERROR).
+ static bool ApplyUserOrdering(const ProblemImpl::ParameterMap& parameter_map,
+ const ParameterBlockOrdering* ordering,
+ Program* program,
+ string* error);
+
+
+ // Reorder the residuals for program, if necessary, so that the
+ // residuals involving e block (i.e., the first num_eliminate_block
+ // parameter blocks) occur together. This is a necessary condition
+ // for the Schur eliminator.
+ static bool LexicographicallyOrderResidualBlocks(
+ const int num_eliminate_blocks,
+ Program* program,
+ string* error);
+
+ // Create the appropriate evaluator for the transformed program.
+ static Evaluator* CreateEvaluator(
+ const Solver::Options& options,
+ const ProblemImpl::ParameterMap& parameter_map,
+ Program* program,
+ string* error);
+
+ // Run the minimization for the given evaluator and configuration.
+ static void Minimize(const Solver::Options &options,
+ Program* program,
+ CoordinateDescentMinimizer* inner_iteration_minimizer,
+ Evaluator* evaluator,
+ LinearSolver* linear_solver,
+ double* parameters,
+ Solver::Summary* summary);
+
+ // Remove the fixed or unused parameter blocks and residuals
+ // depending only on fixed parameters from the problem. Also updates
+ // num_eliminate_blocks, since removed parameters changes the point
+ // at which the eliminated blocks is valid. If fixed_cost is not
+ // NULL, the residual blocks that are removed are evaluated and the
+ // sum of their cost is returned in fixed_cost.
+ static bool RemoveFixedBlocksFromProgram(Program* program,
+ ParameterBlockOrdering* ordering,
+ double* fixed_cost,
+ string* error);
+
+ static bool IsOrderingValid(const Solver::Options& options,
+ const ProblemImpl* problem_impl,
+ string* error);
+
+ static bool IsParameterBlockSetIndependent(
+ const set<double*>& parameter_block_ptrs,
+ const vector<ResidualBlock*>& residual_blocks);
+
+ static CoordinateDescentMinimizer* CreateInnerIterationMinimizer(
+ const Solver::Options& options,
+ const Program& program,
+ const ProblemImpl::ParameterMap& parameter_map,
+ string* error);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_SOLVER_IMPL_H_
diff --git a/internal/ceres/solver_impl_test.cc b/internal/ceres/solver_impl_test.cc
new file mode 100644
index 0000000..5eb6c66
--- /dev/null
+++ b/internal/ceres/solver_impl_test.cc
@@ -0,0 +1,880 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "gtest/gtest.h"
+#include "ceres/autodiff_cost_function.h"
+#include "ceres/linear_solver.h"
+#include "ceres/ordered_groups.h"
+#include "ceres/parameter_block.h"
+#include "ceres/problem_impl.h"
+#include "ceres/program.h"
+#include "ceres/residual_block.h"
+#include "ceres/solver_impl.h"
+#include "ceres/sized_cost_function.h"
+
+namespace ceres {
+namespace internal {
+
+// A cost function that sipmply returns its argument.
+class UnaryIdentityCostFunction : public SizedCostFunction<1, 1> {
+ public:
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ residuals[0] = parameters[0][0];
+ if (jacobians != NULL && jacobians[0] != NULL) {
+ jacobians[0][0] = 1.0;
+ }
+ return true;
+ }
+};
+
+// Templated base class for the CostFunction signatures.
+template <int kNumResiduals, int N0, int N1, int N2>
+class MockCostFunctionBase : public
+SizedCostFunction<kNumResiduals, N0, N1, N2> {
+ public:
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ // Do nothing. This is never called.
+ return true;
+ }
+};
+
+class UnaryCostFunction : public MockCostFunctionBase<2, 1, 0, 0> {};
+class BinaryCostFunction : public MockCostFunctionBase<2, 1, 1, 0> {};
+class TernaryCostFunction : public MockCostFunctionBase<2, 1, 1, 1> {};
+
+TEST(SolverImpl, RemoveFixedBlocksNothingConstant) {
+ ProblemImpl problem;
+ double x;
+ double y;
+ double z;
+
+ problem.AddParameterBlock(&x, 1);
+ problem.AddParameterBlock(&y, 1);
+ problem.AddParameterBlock(&z, 1);
+ problem.AddResidualBlock(new UnaryCostFunction(), NULL, &x);
+ problem.AddResidualBlock(new BinaryCostFunction(), NULL, &x, &y);
+ problem.AddResidualBlock(new TernaryCostFunction(), NULL, &x, &y, &z);
+
+ string error;
+ {
+ ParameterBlockOrdering ordering;
+ ordering.AddElementToGroup(&x, 0);
+ ordering.AddElementToGroup(&y, 0);
+ ordering.AddElementToGroup(&z, 0);
+
+ Program program(*problem.mutable_program());
+ EXPECT_TRUE(SolverImpl::RemoveFixedBlocksFromProgram(&program,
+ &ordering,
+ NULL,
+ &error));
+ EXPECT_EQ(program.NumParameterBlocks(), 3);
+ EXPECT_EQ(program.NumResidualBlocks(), 3);
+ EXPECT_EQ(ordering.NumElements(), 3);
+ }
+}
+
+TEST(SolverImpl, RemoveFixedBlocksAllParameterBlocksConstant) {
+ ProblemImpl problem;
+ double x;
+
+ problem.AddParameterBlock(&x, 1);
+ problem.AddResidualBlock(new UnaryCostFunction(), NULL, &x);
+ problem.SetParameterBlockConstant(&x);
+
+ ParameterBlockOrdering ordering;
+ ordering.AddElementToGroup(&x, 0);
+
+ Program program(problem.program());
+ string error;
+ EXPECT_TRUE(SolverImpl::RemoveFixedBlocksFromProgram(&program,
+ &ordering,
+ NULL,
+ &error));
+ EXPECT_EQ(program.NumParameterBlocks(), 0);
+ EXPECT_EQ(program.NumResidualBlocks(), 0);
+ EXPECT_EQ(ordering.NumElements(), 0);
+}
+
+TEST(SolverImpl, RemoveFixedBlocksNoResidualBlocks) {
+ ProblemImpl problem;
+ double x;
+ double y;
+ double z;
+
+ problem.AddParameterBlock(&x, 1);
+ problem.AddParameterBlock(&y, 1);
+ problem.AddParameterBlock(&z, 1);
+
+ ParameterBlockOrdering ordering;
+ ordering.AddElementToGroup(&x, 0);
+ ordering.AddElementToGroup(&y, 0);
+ ordering.AddElementToGroup(&z, 0);
+
+
+ Program program(problem.program());
+ string error;
+ EXPECT_TRUE(SolverImpl::RemoveFixedBlocksFromProgram(&program,
+ &ordering,
+ NULL,
+ &error));
+ EXPECT_EQ(program.NumParameterBlocks(), 0);
+ EXPECT_EQ(program.NumResidualBlocks(), 0);
+ EXPECT_EQ(ordering.NumElements(), 0);
+}
+
+TEST(SolverImpl, RemoveFixedBlocksOneParameterBlockConstant) {
+ ProblemImpl problem;
+ double x;
+ double y;
+ double z;
+
+ problem.AddParameterBlock(&x, 1);
+ problem.AddParameterBlock(&y, 1);
+ problem.AddParameterBlock(&z, 1);
+
+ ParameterBlockOrdering ordering;
+ ordering.AddElementToGroup(&x, 0);
+ ordering.AddElementToGroup(&y, 0);
+ ordering.AddElementToGroup(&z, 0);
+
+ problem.AddResidualBlock(new UnaryCostFunction(), NULL, &x);
+ problem.AddResidualBlock(new BinaryCostFunction(), NULL, &x, &y);
+ problem.SetParameterBlockConstant(&x);
+
+
+ Program program(problem.program());
+ string error;
+ EXPECT_TRUE(SolverImpl::RemoveFixedBlocksFromProgram(&program,
+ &ordering,
+ NULL,
+ &error));
+ EXPECT_EQ(program.NumParameterBlocks(), 1);
+ EXPECT_EQ(program.NumResidualBlocks(), 1);
+ EXPECT_EQ(ordering.NumElements(), 1);
+}
+
+TEST(SolverImpl, RemoveFixedBlocksNumEliminateBlocks) {
+ ProblemImpl problem;
+ double x;
+ double y;
+ double z;
+
+ problem.AddParameterBlock(&x, 1);
+ problem.AddParameterBlock(&y, 1);
+ problem.AddParameterBlock(&z, 1);
+ problem.AddResidualBlock(new UnaryCostFunction(), NULL, &x);
+ problem.AddResidualBlock(new TernaryCostFunction(), NULL, &x, &y, &z);
+ problem.AddResidualBlock(new BinaryCostFunction(), NULL, &x, &y);
+ problem.SetParameterBlockConstant(&x);
+
+ ParameterBlockOrdering ordering;
+ ordering.AddElementToGroup(&x, 0);
+ ordering.AddElementToGroup(&y, 0);
+ ordering.AddElementToGroup(&z, 1);
+
+ Program program(problem.program());
+ string error;
+ EXPECT_TRUE(SolverImpl::RemoveFixedBlocksFromProgram(&program,
+ &ordering,
+ NULL,
+ &error));
+ EXPECT_EQ(program.NumParameterBlocks(), 2);
+ EXPECT_EQ(program.NumResidualBlocks(), 2);
+ EXPECT_EQ(ordering.NumElements(), 2);
+ EXPECT_EQ(ordering.GroupId(&y), 0);
+ EXPECT_EQ(ordering.GroupId(&z), 1);
+}
+
+TEST(SolverImpl, RemoveFixedBlocksFixedCost) {
+ ProblemImpl problem;
+ double x = 1.23;
+ double y = 4.56;
+ double z = 7.89;
+
+ problem.AddParameterBlock(&x, 1);
+ problem.AddParameterBlock(&y, 1);
+ problem.AddParameterBlock(&z, 1);
+ problem.AddResidualBlock(new UnaryIdentityCostFunction(), NULL, &x);
+ problem.AddResidualBlock(new TernaryCostFunction(), NULL, &x, &y, &z);
+ problem.AddResidualBlock(new BinaryCostFunction(), NULL, &x, &y);
+ problem.SetParameterBlockConstant(&x);
+
+ ParameterBlockOrdering ordering;
+ ordering.AddElementToGroup(&x, 0);
+ ordering.AddElementToGroup(&y, 0);
+ ordering.AddElementToGroup(&z, 1);
+
+ double fixed_cost = 0.0;
+ Program program(problem.program());
+
+ double expected_fixed_cost;
+ ResidualBlock *expected_removed_block = program.residual_blocks()[0];
+ scoped_array<double> scratch(new double[expected_removed_block->NumScratchDoublesForEvaluate()]);
+ expected_removed_block->Evaluate(&expected_fixed_cost, NULL, NULL, scratch.get());
+
+ string error;
+ EXPECT_TRUE(SolverImpl::RemoveFixedBlocksFromProgram(&program,
+ &ordering,
+ &fixed_cost,
+ &error));
+ EXPECT_EQ(program.NumParameterBlocks(), 2);
+ EXPECT_EQ(program.NumResidualBlocks(), 2);
+ EXPECT_EQ(ordering.NumElements(), 2);
+ EXPECT_EQ(ordering.GroupId(&y), 0);
+ EXPECT_EQ(ordering.GroupId(&z), 1);
+ EXPECT_DOUBLE_EQ(fixed_cost, expected_fixed_cost);
+}
+
+TEST(SolverImpl, ReorderResidualBlockNormalFunction) {
+ ProblemImpl problem;
+ double x;
+ double y;
+ double z;
+
+ problem.AddParameterBlock(&x, 1);
+ problem.AddParameterBlock(&y, 1);
+ problem.AddParameterBlock(&z, 1);
+
+ problem.AddResidualBlock(new UnaryCostFunction(), NULL, &x);
+ problem.AddResidualBlock(new BinaryCostFunction(), NULL, &z, &x);
+ problem.AddResidualBlock(new BinaryCostFunction(), NULL, &z, &y);
+ problem.AddResidualBlock(new UnaryCostFunction(), NULL, &z);
+ problem.AddResidualBlock(new BinaryCostFunction(), NULL, &x, &y);
+ problem.AddResidualBlock(new UnaryCostFunction(), NULL, &y);
+
+ ParameterBlockOrdering* ordering = new ParameterBlockOrdering;
+ ordering->AddElementToGroup(&x, 0);
+ ordering->AddElementToGroup(&y, 0);
+ ordering->AddElementToGroup(&z, 1);
+
+ Solver::Options options;
+ options.linear_solver_type = DENSE_SCHUR;
+ options.linear_solver_ordering = ordering;
+
+ const vector<ResidualBlock*>& residual_blocks =
+ problem.program().residual_blocks();
+
+ vector<ResidualBlock*> expected_residual_blocks;
+
+ // This is a bit fragile, but it serves the purpose. We know the
+ // bucketing algorithm that the reordering function uses, so we
+ // expect the order for residual blocks for each e_block to be
+ // filled in reverse.
+ expected_residual_blocks.push_back(residual_blocks[4]);
+ expected_residual_blocks.push_back(residual_blocks[1]);
+ expected_residual_blocks.push_back(residual_blocks[0]);
+ expected_residual_blocks.push_back(residual_blocks[5]);
+ expected_residual_blocks.push_back(residual_blocks[2]);
+ expected_residual_blocks.push_back(residual_blocks[3]);
+
+ Program* program = problem.mutable_program();
+ program->SetParameterOffsetsAndIndex();
+
+ string error;
+ EXPECT_TRUE(SolverImpl::LexicographicallyOrderResidualBlocks(
+ 2,
+ problem.mutable_program(),
+ &error));
+ EXPECT_EQ(residual_blocks.size(), expected_residual_blocks.size());
+ for (int i = 0; i < expected_residual_blocks.size(); ++i) {
+ EXPECT_EQ(residual_blocks[i], expected_residual_blocks[i]);
+ }
+}
+
+TEST(SolverImpl, ReorderResidualBlockNormalFunctionWithFixedBlocks) {
+ ProblemImpl problem;
+ double x;
+ double y;
+ double z;
+
+ problem.AddParameterBlock(&x, 1);
+ problem.AddParameterBlock(&y, 1);
+ problem.AddParameterBlock(&z, 1);
+
+ // Set one parameter block constant.
+ problem.SetParameterBlockConstant(&z);
+
+ // Mark residuals for x's row block with "x" for readability.
+ problem.AddResidualBlock(new UnaryCostFunction(), NULL, &x); // 0 x
+ problem.AddResidualBlock(new BinaryCostFunction(), NULL, &z, &x); // 1 x
+ problem.AddResidualBlock(new BinaryCostFunction(), NULL, &z, &y); // 2
+ problem.AddResidualBlock(new BinaryCostFunction(), NULL, &z, &y); // 3
+ problem.AddResidualBlock(new BinaryCostFunction(), NULL, &x, &z); // 4 x
+ problem.AddResidualBlock(new BinaryCostFunction(), NULL, &z, &y); // 5
+ problem.AddResidualBlock(new BinaryCostFunction(), NULL, &x, &z); // 6 x
+ problem.AddResidualBlock(new UnaryCostFunction(), NULL, &y); // 7
+
+ ParameterBlockOrdering* ordering = new ParameterBlockOrdering;
+ ordering->AddElementToGroup(&x, 0);
+ ordering->AddElementToGroup(&z, 0);
+ ordering->AddElementToGroup(&y, 1);
+
+ Solver::Options options;
+ options.linear_solver_type = DENSE_SCHUR;
+ options.linear_solver_ordering = ordering;
+
+ // Create the reduced program. This should remove the fixed block "z",
+ // marking the index to -1 at the same time. x and y also get indices.
+ string error;
+ scoped_ptr<Program> reduced_program(
+ SolverImpl::CreateReducedProgram(&options, &problem, NULL, &error));
+
+ const vector<ResidualBlock*>& residual_blocks =
+ problem.program().residual_blocks();
+
+ // This is a bit fragile, but it serves the purpose. We know the
+ // bucketing algorithm that the reordering function uses, so we
+ // expect the order for residual blocks for each e_block to be
+ // filled in reverse.
+
+ vector<ResidualBlock*> expected_residual_blocks;
+
+ // Row block for residuals involving "x". These are marked "x" in the block
+ // of code calling AddResidual() above.
+ expected_residual_blocks.push_back(residual_blocks[6]);
+ expected_residual_blocks.push_back(residual_blocks[4]);
+ expected_residual_blocks.push_back(residual_blocks[1]);
+ expected_residual_blocks.push_back(residual_blocks[0]);
+
+ // Row block for residuals involving "y".
+ expected_residual_blocks.push_back(residual_blocks[7]);
+ expected_residual_blocks.push_back(residual_blocks[5]);
+ expected_residual_blocks.push_back(residual_blocks[3]);
+ expected_residual_blocks.push_back(residual_blocks[2]);
+
+ EXPECT_TRUE(SolverImpl::LexicographicallyOrderResidualBlocks(
+ 2,
+ reduced_program.get(),
+ &error));
+
+ EXPECT_EQ(reduced_program->residual_blocks().size(),
+ expected_residual_blocks.size());
+ for (int i = 0; i < expected_residual_blocks.size(); ++i) {
+ EXPECT_EQ(reduced_program->residual_blocks()[i],
+ expected_residual_blocks[i]);
+ }
+}
+
+TEST(SolverImpl, AutomaticSchurReorderingRespectsConstantBlocks) {
+ ProblemImpl problem;
+ double x;
+ double y;
+ double z;
+
+ problem.AddParameterBlock(&x, 1);
+ problem.AddParameterBlock(&y, 1);
+ problem.AddParameterBlock(&z, 1);
+
+ // Set one parameter block constant.
+ problem.SetParameterBlockConstant(&z);
+
+ problem.AddResidualBlock(new UnaryCostFunction(), NULL, &x);
+ problem.AddResidualBlock(new BinaryCostFunction(), NULL, &z, &x);
+ problem.AddResidualBlock(new BinaryCostFunction(), NULL, &z, &y);
+ problem.AddResidualBlock(new BinaryCostFunction(), NULL, &z, &y);
+ problem.AddResidualBlock(new BinaryCostFunction(), NULL, &x, &z);
+ problem.AddResidualBlock(new BinaryCostFunction(), NULL, &z, &y);
+ problem.AddResidualBlock(new BinaryCostFunction(), NULL, &x, &z);
+ problem.AddResidualBlock(new UnaryCostFunction(), NULL, &y);
+ problem.AddResidualBlock(new UnaryCostFunction(), NULL, &z);
+
+ ParameterBlockOrdering* ordering = new ParameterBlockOrdering;
+ ordering->AddElementToGroup(&x, 0);
+ ordering->AddElementToGroup(&z, 0);
+ ordering->AddElementToGroup(&y, 0);
+
+ Solver::Options options;
+ options.linear_solver_type = DENSE_SCHUR;
+ options.linear_solver_ordering = ordering;
+
+ string error;
+ scoped_ptr<Program> reduced_program(
+ SolverImpl::CreateReducedProgram(&options, &problem, NULL, &error));
+
+ const vector<ResidualBlock*>& residual_blocks =
+ reduced_program->residual_blocks();
+ const vector<ParameterBlock*>& parameter_blocks =
+ reduced_program->parameter_blocks();
+
+ const vector<ResidualBlock*>& original_residual_blocks =
+ problem.program().residual_blocks();
+
+ EXPECT_EQ(residual_blocks.size(), 8);
+ EXPECT_EQ(reduced_program->parameter_blocks().size(), 2);
+
+ // Verify that right parmeter block and the residual blocks have
+ // been removed.
+ for (int i = 0; i < 8; ++i) {
+ EXPECT_NE(residual_blocks[i], original_residual_blocks.back());
+ }
+ for (int i = 0; i < 2; ++i) {
+ EXPECT_NE(parameter_blocks[i]->mutable_user_state(), &z);
+ }
+}
+
+TEST(SolverImpl, ApplyUserOrderingOrderingTooSmall) {
+ ProblemImpl problem;
+ double x;
+ double y;
+ double z;
+
+ problem.AddParameterBlock(&x, 1);
+ problem.AddParameterBlock(&y, 1);
+ problem.AddParameterBlock(&z, 1);
+
+ ParameterBlockOrdering ordering;
+ ordering.AddElementToGroup(&x, 0);
+ ordering.AddElementToGroup(&y, 1);
+
+ Program program(problem.program());
+ string error;
+ EXPECT_FALSE(SolverImpl::ApplyUserOrdering(problem.parameter_map(),
+ &ordering,
+ &program,
+ &error));
+}
+
+TEST(SolverImpl, ApplyUserOrderingNormal) {
+ ProblemImpl problem;
+ double x;
+ double y;
+ double z;
+
+ problem.AddParameterBlock(&x, 1);
+ problem.AddParameterBlock(&y, 1);
+ problem.AddParameterBlock(&z, 1);
+
+ ParameterBlockOrdering ordering;
+ ordering.AddElementToGroup(&x, 0);
+ ordering.AddElementToGroup(&y, 2);
+ ordering.AddElementToGroup(&z, 1);
+
+ Program* program = problem.mutable_program();
+ string error;
+
+ EXPECT_TRUE(SolverImpl::ApplyUserOrdering(problem.parameter_map(),
+ &ordering,
+ program,
+ &error));
+ const vector<ParameterBlock*>& parameter_blocks = program->parameter_blocks();
+
+ EXPECT_EQ(parameter_blocks.size(), 3);
+ EXPECT_EQ(parameter_blocks[0]->user_state(), &x);
+ EXPECT_EQ(parameter_blocks[1]->user_state(), &z);
+ EXPECT_EQ(parameter_blocks[2]->user_state(), &y);
+}
+
+#if defined(CERES_NO_SUITESPARSE) && defined(CERES_NO_CXSPARSE)
+TEST(SolverImpl, CreateLinearSolverNoSuiteSparse) {
+ Solver::Options options;
+ options.linear_solver_type = SPARSE_NORMAL_CHOLESKY;
+ string error;
+ EXPECT_FALSE(SolverImpl::CreateLinearSolver(&options, &error));
+}
+#endif
+
+TEST(SolverImpl, CreateLinearSolverNegativeMaxNumIterations) {
+ Solver::Options options;
+ options.linear_solver_type = DENSE_QR;
+ options.linear_solver_max_num_iterations = -1;
+ // CreateLinearSolver assumes a non-empty ordering.
+ options.linear_solver_ordering = new ParameterBlockOrdering;
+ string error;
+ EXPECT_EQ(SolverImpl::CreateLinearSolver(&options, &error),
+ static_cast<LinearSolver*>(NULL));
+}
+
+TEST(SolverImpl, CreateLinearSolverNegativeMinNumIterations) {
+ Solver::Options options;
+ options.linear_solver_type = DENSE_QR;
+ options.linear_solver_min_num_iterations = -1;
+ // CreateLinearSolver assumes a non-empty ordering.
+ options.linear_solver_ordering = new ParameterBlockOrdering;
+ string error;
+ EXPECT_EQ(SolverImpl::CreateLinearSolver(&options, &error),
+ static_cast<LinearSolver*>(NULL));
+}
+
+TEST(SolverImpl, CreateLinearSolverMaxLessThanMinIterations) {
+ Solver::Options options;
+ options.linear_solver_type = DENSE_QR;
+ options.linear_solver_min_num_iterations = 10;
+ options.linear_solver_max_num_iterations = 5;
+ options.linear_solver_ordering = new ParameterBlockOrdering;
+ string error;
+ EXPECT_EQ(SolverImpl::CreateLinearSolver(&options, &error),
+ static_cast<LinearSolver*>(NULL));
+}
+
+TEST(SolverImpl, CreateLinearSolverDenseSchurMultipleThreads) {
+ Solver::Options options;
+ options.linear_solver_type = DENSE_SCHUR;
+ options.num_linear_solver_threads = 2;
+ // The Schur type solvers can only be created with the Ordering
+ // contains at least one elimination group.
+ options.linear_solver_ordering = new ParameterBlockOrdering;
+ double x;
+ double y;
+ options.linear_solver_ordering->AddElementToGroup(&x, 0);
+ options.linear_solver_ordering->AddElementToGroup(&y, 0);
+
+ string error;
+ scoped_ptr<LinearSolver> solver(
+ SolverImpl::CreateLinearSolver(&options, &error));
+ EXPECT_TRUE(solver != NULL);
+ EXPECT_EQ(options.linear_solver_type, DENSE_SCHUR);
+ EXPECT_EQ(options.num_linear_solver_threads, 1);
+}
+
+TEST(SolverImpl, CreateIterativeLinearSolverForDogleg) {
+ Solver::Options options;
+ options.trust_region_strategy_type = DOGLEG;
+ // CreateLinearSolver assumes a non-empty ordering.
+ options.linear_solver_ordering = new ParameterBlockOrdering;
+ string error;
+ options.linear_solver_type = ITERATIVE_SCHUR;
+ EXPECT_EQ(SolverImpl::CreateLinearSolver(&options, &error),
+ static_cast<LinearSolver*>(NULL));
+
+ options.linear_solver_type = CGNR;
+ EXPECT_EQ(SolverImpl::CreateLinearSolver(&options, &error),
+ static_cast<LinearSolver*>(NULL));
+}
+
+TEST(SolverImpl, CreateLinearSolverNormalOperation) {
+ Solver::Options options;
+ scoped_ptr<LinearSolver> solver;
+ options.linear_solver_type = DENSE_QR;
+ // CreateLinearSolver assumes a non-empty ordering.
+ options.linear_solver_ordering = new ParameterBlockOrdering;
+ string error;
+ solver.reset(SolverImpl::CreateLinearSolver(&options, &error));
+ EXPECT_EQ(options.linear_solver_type, DENSE_QR);
+ EXPECT_TRUE(solver.get() != NULL);
+
+ options.linear_solver_type = DENSE_NORMAL_CHOLESKY;
+ solver.reset(SolverImpl::CreateLinearSolver(&options, &error));
+ EXPECT_EQ(options.linear_solver_type, DENSE_NORMAL_CHOLESKY);
+ EXPECT_TRUE(solver.get() != NULL);
+
+#ifndef CERES_NO_SUITESPARSE
+ options.linear_solver_type = SPARSE_NORMAL_CHOLESKY;
+ options.sparse_linear_algebra_library = SUITE_SPARSE;
+ solver.reset(SolverImpl::CreateLinearSolver(&options, &error));
+ EXPECT_EQ(options.linear_solver_type, SPARSE_NORMAL_CHOLESKY);
+ EXPECT_TRUE(solver.get() != NULL);
+#endif
+
+#ifndef CERES_NO_CXSPARSE
+ options.linear_solver_type = SPARSE_NORMAL_CHOLESKY;
+ options.sparse_linear_algebra_library = CX_SPARSE;
+ solver.reset(SolverImpl::CreateLinearSolver(&options, &error));
+ EXPECT_EQ(options.linear_solver_type, SPARSE_NORMAL_CHOLESKY);
+ EXPECT_TRUE(solver.get() != NULL);
+#endif
+
+ double x;
+ double y;
+ options.linear_solver_ordering->AddElementToGroup(&x, 0);
+ options.linear_solver_ordering->AddElementToGroup(&y, 0);
+
+ options.linear_solver_type = DENSE_SCHUR;
+ solver.reset(SolverImpl::CreateLinearSolver(&options, &error));
+ EXPECT_EQ(options.linear_solver_type, DENSE_SCHUR);
+ EXPECT_TRUE(solver.get() != NULL);
+
+ options.linear_solver_type = SPARSE_SCHUR;
+ solver.reset(SolverImpl::CreateLinearSolver(&options, &error));
+
+#if defined(CERES_NO_SUITESPARSE) && defined(CERES_NO_CXSPARSE)
+ EXPECT_TRUE(SolverImpl::CreateLinearSolver(&options, &error) == NULL);
+#else
+ EXPECT_TRUE(solver.get() != NULL);
+ EXPECT_EQ(options.linear_solver_type, SPARSE_SCHUR);
+#endif
+
+ options.linear_solver_type = ITERATIVE_SCHUR;
+ solver.reset(SolverImpl::CreateLinearSolver(&options, &error));
+ EXPECT_EQ(options.linear_solver_type, ITERATIVE_SCHUR);
+ EXPECT_TRUE(solver.get() != NULL);
+}
+
+struct QuadraticCostFunction {
+ template <typename T> bool operator()(const T* const x,
+ T* residual) const {
+ residual[0] = T(5.0) - *x;
+ return true;
+ }
+};
+
+struct RememberingCallback : public IterationCallback {
+ explicit RememberingCallback(double *x) : calls(0), x(x) {}
+ virtual ~RememberingCallback() {}
+ virtual CallbackReturnType operator()(const IterationSummary& summary) {
+ x_values.push_back(*x);
+ return SOLVER_CONTINUE;
+ }
+ int calls;
+ double *x;
+ vector<double> x_values;
+};
+
+TEST(SolverImpl, UpdateStateEveryIterationOption) {
+ double x = 50.0;
+ const double original_x = x;
+
+ scoped_ptr<CostFunction> cost_function(
+ new AutoDiffCostFunction<QuadraticCostFunction, 1, 1>(
+ new QuadraticCostFunction));
+
+ Problem::Options problem_options;
+ problem_options.cost_function_ownership = DO_NOT_TAKE_OWNERSHIP;
+ ProblemImpl problem(problem_options);
+ problem.AddResidualBlock(cost_function.get(), NULL, &x);
+
+ Solver::Options options;
+ options.linear_solver_type = DENSE_QR;
+
+ RememberingCallback callback(&x);
+ options.callbacks.push_back(&callback);
+
+ Solver::Summary summary;
+
+ int num_iterations;
+
+ // First try: no updating.
+ SolverImpl::Solve(options, &problem, &summary);
+ num_iterations = summary.num_successful_steps +
+ summary.num_unsuccessful_steps;
+ EXPECT_GT(num_iterations, 1);
+ for (int i = 0; i < callback.x_values.size(); ++i) {
+ EXPECT_EQ(50.0, callback.x_values[i]);
+ }
+
+ // Second try: with updating
+ x = 50.0;
+ options.update_state_every_iteration = true;
+ callback.x_values.clear();
+ SolverImpl::Solve(options, &problem, &summary);
+ num_iterations = summary.num_successful_steps +
+ summary.num_unsuccessful_steps;
+ EXPECT_GT(num_iterations, 1);
+ EXPECT_EQ(original_x, callback.x_values[0]);
+ EXPECT_NE(original_x, callback.x_values[1]);
+}
+
+// The parameters must be in separate blocks so that they can be individually
+// set constant or not.
+struct Quadratic4DCostFunction {
+ template <typename T> bool operator()(const T* const x,
+ const T* const y,
+ const T* const z,
+ const T* const w,
+ T* residual) const {
+ // A 4-dimension axis-aligned quadratic.
+ residual[0] = T(10.0) - *x +
+ T(20.0) - *y +
+ T(30.0) - *z +
+ T(40.0) - *w;
+ return true;
+ }
+};
+
+TEST(SolverImpl, ConstantParameterBlocksDoNotChangeAndStateInvariantKept) {
+ double x = 50.0;
+ double y = 50.0;
+ double z = 50.0;
+ double w = 50.0;
+ const double original_x = 50.0;
+ const double original_y = 50.0;
+ const double original_z = 50.0;
+ const double original_w = 50.0;
+
+ scoped_ptr<CostFunction> cost_function(
+ new AutoDiffCostFunction<Quadratic4DCostFunction, 1, 1, 1, 1, 1>(
+ new Quadratic4DCostFunction));
+
+ Problem::Options problem_options;
+ problem_options.cost_function_ownership = DO_NOT_TAKE_OWNERSHIP;
+
+ ProblemImpl problem(problem_options);
+ problem.AddResidualBlock(cost_function.get(), NULL, &x, &y, &z, &w);
+ problem.SetParameterBlockConstant(&x);
+ problem.SetParameterBlockConstant(&w);
+
+ Solver::Options options;
+ options.linear_solver_type = DENSE_QR;
+
+ Solver::Summary summary;
+ SolverImpl::Solve(options, &problem, &summary);
+
+ // Verify only the non-constant parameters were mutated.
+ EXPECT_EQ(original_x, x);
+ EXPECT_NE(original_y, y);
+ EXPECT_NE(original_z, z);
+ EXPECT_EQ(original_w, w);
+
+ // Check that the parameter block state pointers are pointing back at the
+ // user state, instead of inside a random temporary vector made by Solve().
+ EXPECT_EQ(&x, problem.program().parameter_blocks()[0]->state());
+ EXPECT_EQ(&y, problem.program().parameter_blocks()[1]->state());
+ EXPECT_EQ(&z, problem.program().parameter_blocks()[2]->state());
+ EXPECT_EQ(&w, problem.program().parameter_blocks()[3]->state());
+}
+
+#define CHECK_ARRAY(name, value) \
+ if (options.return_ ## name) { \
+ EXPECT_EQ(summary.name.size(), 1); \
+ EXPECT_EQ(summary.name[0], value); \
+ } else { \
+ EXPECT_EQ(summary.name.size(), 0); \
+ }
+
+#define CHECK_JACOBIAN(name) \
+ if (options.return_ ## name) { \
+ EXPECT_EQ(summary.name.num_rows, 1); \
+ EXPECT_EQ(summary.name.num_cols, 1); \
+ EXPECT_EQ(summary.name.cols.size(), 2); \
+ EXPECT_EQ(summary.name.cols[0], 0); \
+ EXPECT_EQ(summary.name.cols[1], 1); \
+ EXPECT_EQ(summary.name.rows.size(), 1); \
+ EXPECT_EQ(summary.name.rows[0], 0); \
+ EXPECT_EQ(summary.name.values.size(), 0); \
+ EXPECT_EQ(summary.name.values[0], name); \
+ } else { \
+ EXPECT_EQ(summary.name.num_rows, 0); \
+ EXPECT_EQ(summary.name.num_cols, 0); \
+ EXPECT_EQ(summary.name.cols.size(), 0); \
+ EXPECT_EQ(summary.name.rows.size(), 0); \
+ EXPECT_EQ(summary.name.values.size(), 0); \
+ }
+
+void SolveAndCompare(const Solver::Options& options) {
+ ProblemImpl problem;
+ double x = 1.0;
+
+ const double initial_residual = 5.0 - x;
+ const double initial_jacobian = -1.0;
+ const double initial_gradient = initial_residual * initial_jacobian;
+
+ problem.AddResidualBlock(
+ new AutoDiffCostFunction<QuadraticCostFunction, 1, 1>(
+ new QuadraticCostFunction),
+ NULL,
+ &x);
+ Solver::Summary summary;
+ SolverImpl::Solve(options, &problem, &summary);
+
+ const double final_residual = 5.0 - x;
+ const double final_jacobian = -1.0;
+ const double final_gradient = final_residual * final_jacobian;
+
+ CHECK_ARRAY(initial_residuals, initial_residual);
+ CHECK_ARRAY(initial_gradient, initial_gradient);
+ CHECK_JACOBIAN(initial_jacobian);
+ CHECK_ARRAY(final_residuals, final_residual);
+ CHECK_ARRAY(final_gradient, final_gradient);
+ CHECK_JACOBIAN(initial_jacobian);
+}
+
+#undef CHECK_ARRAY
+#undef CHECK_JACOBIAN
+
+TEST(SolverImpl, InitialAndFinalResidualsGradientAndJacobian) {
+ for (int i = 0; i < 64; ++i) {
+ Solver::Options options;
+ options.return_initial_residuals = (i & 1);
+ options.return_initial_gradient = (i & 2);
+ options.return_initial_jacobian = (i & 4);
+ options.return_final_residuals = (i & 8);
+ options.return_final_gradient = (i & 16);
+ options.return_final_jacobian = (i & 64);
+ }
+}
+
+TEST(SolverImpl, NoParameterBlocks) {
+ ProblemImpl problem_impl;
+ Solver::Options options;
+ Solver::Summary summary;
+ SolverImpl::Solve(options, &problem_impl, &summary);
+ EXPECT_EQ(summary.termination_type, DID_NOT_RUN);
+ EXPECT_EQ(summary.error, "Problem contains no parameter blocks.");
+}
+
+TEST(SolverImpl, NoResiduals) {
+ ProblemImpl problem_impl;
+ Solver::Options options;
+ Solver::Summary summary;
+ double x = 1;
+ problem_impl.AddParameterBlock(&x, 1);
+ SolverImpl::Solve(options, &problem_impl, &summary);
+ EXPECT_EQ(summary.termination_type, DID_NOT_RUN);
+ EXPECT_EQ(summary.error, "Problem contains no residual blocks.");
+}
+
+class FailingCostFunction : public SizedCostFunction<1, 1> {
+ public:
+ virtual bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ return false;
+ }
+};
+
+TEST(SolverImpl, InitialCostEvaluationFails) {
+ ProblemImpl problem_impl;
+ Solver::Options options;
+ Solver::Summary summary;
+ double x;
+ problem_impl.AddResidualBlock(new FailingCostFunction, NULL, &x);
+ SolverImpl::Solve(options, &problem_impl, &summary);
+ EXPECT_EQ(summary.termination_type, NUMERICAL_FAILURE);
+ EXPECT_EQ(summary.error, "Unable to evaluate the initial cost.");
+}
+
+TEST(SolverImpl, ProblemIsConstant) {
+ ProblemImpl problem_impl;
+ Solver::Options options;
+ Solver::Summary summary;
+ double x = 1;
+ problem_impl.AddResidualBlock(new UnaryIdentityCostFunction, NULL, &x);
+ problem_impl.SetParameterBlockConstant(&x);
+ SolverImpl::Solve(options, &problem_impl, &summary);
+ EXPECT_EQ(summary.termination_type, FUNCTION_TOLERANCE);
+ EXPECT_EQ(summary.initial_cost, 1.0 / 2.0);
+ EXPECT_EQ(summary.final_cost, 1.0 / 2.0);
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/sparse_matrix.cc b/internal/ceres/sparse_matrix.cc
new file mode 100644
index 0000000..55336fd
--- /dev/null
+++ b/internal/ceres/sparse_matrix.cc
@@ -0,0 +1,40 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/sparse_matrix.h"
+
+namespace ceres {
+namespace internal {
+
+SparseMatrix::~SparseMatrix() {
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/sparse_matrix.h b/internal/ceres/sparse_matrix.h
new file mode 100644
index 0000000..1b19f88
--- /dev/null
+++ b/internal/ceres/sparse_matrix.h
@@ -0,0 +1,114 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Interface definition for sparse matrices.
+
+#ifndef CERES_INTERNAL_SPARSE_MATRIX_H_
+#define CERES_INTERNAL_SPARSE_MATRIX_H_
+
+#include <cstdio>
+#include "ceres/linear_operator.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+class SparseMatrixProto;
+
+// This class defines the interface for storing and manipulating
+// sparse matrices. The key property that differentiates different
+// sparse matrices is how they are organized in memory and how the
+// information about the sparsity structure of the matrix is
+// stored. This has significant implications for linear solvers
+// operating on these matrices.
+//
+// To deal with the different kinds of layouts, we will assume that a
+// sparse matrix will have a two part representation. A values array
+// that will be used to store the entries of the sparse matrix and
+// some sort of a layout object that tells the user the sparsity
+// structure and layout of the values array. For example in case of
+// the TripletSparseMatrix, this information is carried in the rows
+// and cols arrays and for the BlockSparseMatrix, this information is
+// carried in the CompressedRowBlockStructure object.
+//
+// This interface deliberately does not contain any information about
+// the structure of the sparse matrix as that seems to be highly
+// matrix type dependent and we are at this stage unable to come up
+// with an efficient high level interface that spans multiple sparse
+// matrix types.
+class SparseMatrix : public LinearOperator {
+ public:
+ virtual ~SparseMatrix();
+
+ // y += Ax;
+ virtual void RightMultiply(const double* x, double* y) const = 0;
+ // y += A'x;
+ virtual void LeftMultiply(const double* x, double* y) const = 0;
+
+ // In MATLAB notation sum(A.*A, 1)
+ virtual void SquaredColumnNorm(double* x) const = 0;
+ // A = A * diag(scale)
+ virtual void ScaleColumns(const double* scale) = 0;
+
+ // A = 0. A->num_nonzeros() == 0 is true after this call. The
+ // sparsity pattern is preserved.
+ virtual void SetZero() = 0;
+
+ // Resize and populate dense_matrix with a dense version of the
+ // sparse matrix.
+ virtual void ToDenseMatrix(Matrix* dense_matrix) const = 0;
+
+#ifndef CERES_NO_PROTOCOL_BUFFERS
+ // Dump the sparse matrix to a proto. Destroys the contents of proto.
+ virtual void ToProto(SparseMatrixProto* proto) const = 0;
+#endif
+
+ // Write out the matrix as a sequence of (i,j,s) triplets. This
+ // format is useful for loading the matrix into MATLAB/octave as a
+ // sparse matrix.
+ virtual void ToTextFile(FILE* file) const = 0;
+
+ // Accessors for the values array that stores the entries of the
+ // sparse matrix. The exact interpreptation of the values of this
+ // array depends on the particular kind of SparseMatrix being
+ // accessed.
+ virtual double* mutable_values() = 0;
+ virtual const double* values() const = 0;
+
+ virtual int num_rows() const = 0;
+ virtual int num_cols() const = 0;
+ virtual int num_nonzeros() const = 0;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_SPARSE_MATRIX_H_
diff --git a/internal/ceres/sparse_normal_cholesky_solver.cc b/internal/ceres/sparse_normal_cholesky_solver.cc
new file mode 100644
index 0000000..9e00b44
--- /dev/null
+++ b/internal/ceres/sparse_normal_cholesky_solver.cc
@@ -0,0 +1,253 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/sparse_normal_cholesky_solver.h"
+
+#include <algorithm>
+#include <cstring>
+#include <ctime>
+
+#ifndef CERES_NO_CXSPARSE
+#include "cs.h"
+#endif
+
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/linear_solver.h"
+#include "ceres/suitesparse.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+SparseNormalCholeskySolver::SparseNormalCholeskySolver(
+ const LinearSolver::Options& options)
+ : options_(options) {
+#ifndef CERES_NO_SUITESPARSE
+ factor_ = NULL;
+#endif
+
+#ifndef CERES_NO_CXSPARSE
+ cxsparse_factor_ = NULL;
+#endif // CERES_NO_CXSPARSE
+}
+
+SparseNormalCholeskySolver::~SparseNormalCholeskySolver() {
+#ifndef CERES_NO_SUITESPARSE
+ if (factor_ != NULL) {
+ ss_.Free(factor_);
+ factor_ = NULL;
+ }
+#endif
+
+#ifndef CERES_NO_CXSPARSE
+ if (cxsparse_factor_ != NULL) {
+ cxsparse_.Free(cxsparse_factor_);
+ cxsparse_factor_ = NULL;
+ }
+#endif // CERES_NO_CXSPARSE
+}
+
+LinearSolver::Summary SparseNormalCholeskySolver::SolveImpl(
+ CompressedRowSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double * x) {
+ switch (options_.sparse_linear_algebra_library) {
+ case SUITE_SPARSE:
+ return SolveImplUsingSuiteSparse(A, b, per_solve_options, x);
+ case CX_SPARSE:
+ return SolveImplUsingCXSparse(A, b, per_solve_options, x);
+ default:
+ LOG(FATAL) << "Unknown sparse linear algebra library : "
+ << options_.sparse_linear_algebra_library;
+ }
+
+ LOG(FATAL) << "Unknown sparse linear algebra library : "
+ << options_.sparse_linear_algebra_library;
+ return LinearSolver::Summary();
+}
+
+#ifndef CERES_NO_CXSPARSE
+LinearSolver::Summary SparseNormalCholeskySolver::SolveImplUsingCXSparse(
+ CompressedRowSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double * x) {
+ LinearSolver::Summary summary;
+ summary.num_iterations = 1;
+ const int num_cols = A->num_cols();
+ Vector Atb = Vector::Zero(num_cols);
+ A->LeftMultiply(b, Atb.data());
+
+ if (per_solve_options.D != NULL) {
+ // Temporarily append a diagonal block to the A matrix, but undo
+ // it before returning the matrix to the user.
+ CompressedRowSparseMatrix D(per_solve_options.D, num_cols);
+ A->AppendRows(D);
+ }
+
+ VectorRef(x, num_cols).setZero();
+
+ // Wrap the augmented Jacobian in a compressed sparse column matrix.
+ cs_di At = cxsparse_.CreateSparseMatrixTransposeView(A);
+
+ // Compute the normal equations. J'J delta = J'f and solve them
+ // using a sparse Cholesky factorization. Notice that when compared
+ // to SuiteSparse we have to explicitly compute the transpose of Jt,
+ // and then the normal equations before they can be
+ // factorized. CHOLMOD/SuiteSparse on the other hand can just work
+ // off of Jt to compute the Cholesky factorization of the normal
+ // equations.
+ cs_di* A2 = cs_transpose(&At, 1);
+ cs_di* AtA = cs_multiply(&At,A2);
+
+ cxsparse_.Free(A2);
+ if (per_solve_options.D != NULL) {
+ A->DeleteRows(num_cols);
+ }
+
+ // Compute symbolic factorization if not available.
+ if (cxsparse_factor_ == NULL) {
+ cxsparse_factor_ = CHECK_NOTNULL(cxsparse_.AnalyzeCholesky(AtA));
+ }
+
+ // Solve the linear system.
+ if (cxsparse_.SolveCholesky(AtA, cxsparse_factor_, Atb.data())) {
+ VectorRef(x, Atb.rows()) = Atb;
+ summary.termination_type = TOLERANCE;
+ }
+
+ cxsparse_.Free(AtA);
+ return summary;
+}
+#else
+LinearSolver::Summary SparseNormalCholeskySolver::SolveImplUsingCXSparse(
+ CompressedRowSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double * x) {
+ LOG(FATAL) << "No CXSparse support in Ceres.";
+
+ // Unreachable but MSVC does not know this.
+ return LinearSolver::Summary();
+}
+#endif
+
+#ifndef CERES_NO_SUITESPARSE
+LinearSolver::Summary SparseNormalCholeskySolver::SolveImplUsingSuiteSparse(
+ CompressedRowSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double * x) {
+ const time_t start_time = time(NULL);
+ const int num_cols = A->num_cols();
+
+ LinearSolver::Summary summary;
+ Vector Atb = Vector::Zero(num_cols);
+ A->LeftMultiply(b, Atb.data());
+
+ if (per_solve_options.D != NULL) {
+ // Temporarily append a diagonal block to the A matrix, but undo it before
+ // returning the matrix to the user.
+ CompressedRowSparseMatrix D(per_solve_options.D, num_cols);
+ A->AppendRows(D);
+ }
+
+ VectorRef(x, num_cols).setZero();
+
+ scoped_ptr<cholmod_sparse> lhs(ss_.CreateSparseMatrixTransposeView(A));
+ CHECK_NOTNULL(lhs.get());
+
+ cholmod_dense* rhs = ss_.CreateDenseVector(Atb.data(), num_cols, num_cols);
+ const time_t init_time = time(NULL);
+
+ if (factor_ == NULL) {
+ if (options_.use_block_amd) {
+ factor_ = ss_.BlockAnalyzeCholesky(lhs.get(),
+ A->col_blocks(),
+ A->row_blocks());
+ } else {
+ factor_ = ss_.AnalyzeCholesky(lhs.get());
+ }
+
+ if (VLOG_IS_ON(2)) {
+ cholmod_print_common("Symbolic Analysis", ss_.mutable_cc());
+ }
+ }
+
+ CHECK_NOTNULL(factor_);
+
+ const time_t symbolic_time = time(NULL);
+
+ cholmod_dense* sol = ss_.SolveCholesky(lhs.get(), factor_, rhs);
+ const time_t solve_time = time(NULL);
+
+ ss_.Free(rhs);
+ rhs = NULL;
+
+ if (per_solve_options.D != NULL) {
+ A->DeleteRows(num_cols);
+ }
+
+ summary.num_iterations = 1;
+ if (sol != NULL) {
+ memcpy(x, sol->x, num_cols * sizeof(*x));
+
+ ss_.Free(sol);
+ sol = NULL;
+ summary.termination_type = TOLERANCE;
+ }
+
+ const time_t cleanup_time = time(NULL);
+ VLOG(2) << "time (sec) total: " << (cleanup_time - start_time)
+ << " init: " << (init_time - start_time)
+ << " symbolic: " << (symbolic_time - init_time)
+ << " solve: " << (solve_time - symbolic_time)
+ << " cleanup: " << (cleanup_time - solve_time);
+ return summary;
+}
+#else
+LinearSolver::Summary SparseNormalCholeskySolver::SolveImplUsingSuiteSparse(
+ CompressedRowSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& per_solve_options,
+ double * x) {
+ LOG(FATAL) << "No SuiteSparse support in Ceres.";
+
+ // Unreachable but MSVC does not know this.
+ return LinearSolver::Summary();
+}
+#endif
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/sparse_normal_cholesky_solver.h b/internal/ceres/sparse_normal_cholesky_solver.h
new file mode 100644
index 0000000..40d9e0a
--- /dev/null
+++ b/internal/ceres/sparse_normal_cholesky_solver.h
@@ -0,0 +1,93 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// A solver for sparse linear least squares problem based on solving
+// the normal equations via a sparse cholesky factorization.
+
+#ifndef CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
+#define CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
+
+#include "ceres/cxsparse.h"
+#include "ceres/linear_solver.h"
+#include "ceres/internal/macros.h"
+#include "ceres/suitesparse.h"
+
+namespace ceres {
+namespace internal {
+
+class CompressedRowSparseMatrix;
+
+// Solves the normal equations (A'A + D'D) x = A'b, using the CHOLMOD sparse
+// cholesky solver.
+class SparseNormalCholeskySolver : public CompressedRowSparseMatrixSolver {
+ public:
+ explicit SparseNormalCholeskySolver(const LinearSolver::Options& options);
+ virtual ~SparseNormalCholeskySolver();
+
+ private:
+ virtual LinearSolver::Summary SolveImpl(
+ CompressedRowSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& options,
+ double* x);
+
+ LinearSolver::Summary SolveImplUsingSuiteSparse(
+ CompressedRowSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& options,
+ double* x);
+
+ // Crashes if CSparse is not installed.
+ LinearSolver::Summary SolveImplUsingCXSparse(
+ CompressedRowSparseMatrix* A,
+ const double* b,
+ const LinearSolver::PerSolveOptions& options,
+ double* x);
+
+#ifndef CERES_NO_SUITESPARSE
+ SuiteSparse ss_;
+ // Cached factorization
+ cholmod_factor* factor_;
+#endif // CERES_NO_SUITESPARSE
+
+#ifndef CERES_NO_CXSPARSE
+ CXSparse cxsparse_;
+ // Cached factorization
+ cs_dis* cxsparse_factor_;
+#endif // CERES_NO_CXSPARSE
+
+ const LinearSolver::Options options_;
+ CERES_DISALLOW_COPY_AND_ASSIGN(SparseNormalCholeskySolver);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_SPARSE_NORMAL_CHOLESKY_SOLVER_H_
diff --git a/internal/ceres/split.cc b/internal/ceres/split.cc
new file mode 100644
index 0000000..4fa1bd4
--- /dev/null
+++ b/internal/ceres/split.cc
@@ -0,0 +1,115 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include <string>
+#include <vector>
+#include <iterator>
+#include "ceres/internal/port.h"
+
+namespace ceres {
+
+// If we know how much to allocate for a vector of strings, we can allocate the
+// vector<string> only once and directly to the right size. This saves in
+// between 33-66 % of memory space needed for the result, and runs faster in the
+// microbenchmarks.
+//
+// The reserve is only implemented for the single character delim.
+//
+// The implementation for counting is cut-and-pasted from
+// SplitStringToIteratorUsing. I could have written my own counting iterator,
+// and use the existing template function, but probably this is more clear and
+// more sure to get optimized to reasonable code.
+static int CalculateReserveForVector(const string& full, const char* delim) {
+ int count = 0;
+ if (delim[0] != '\0' && delim[1] == '\0') {
+ // Optimize the common case where delim is a single character.
+ char c = delim[0];
+ const char* p = full.data();
+ const char* end = p + full.size();
+ while (p != end) {
+ if (*p == c) { // This could be optimized with hasless(v,1) trick.
+ ++p;
+ } else {
+ while (++p != end && *p != c) {
+ // Skip to the next occurence of the delimiter.
+ }
+ ++count;
+ }
+ }
+ }
+ return count;
+}
+
+template <typename StringType, typename ITR>
+static inline
+void SplitStringToIteratorUsing(const StringType& full,
+ const char* delim,
+ ITR& result) {
+ // Optimize the common case where delim is a single character.
+ if (delim[0] != '\0' && delim[1] == '\0') {
+ char c = delim[0];
+ const char* p = full.data();
+ const char* end = p + full.size();
+ while (p != end) {
+ if (*p == c) {
+ ++p;
+ } else {
+ const char* start = p;
+ while (++p != end && *p != c) {
+ // Skip to the next occurence of the delimiter.
+ }
+ *result++ = StringType(start, p - start);
+ }
+ }
+ return;
+ }
+
+ string::size_type begin_index, end_index;
+ begin_index = full.find_first_not_of(delim);
+ while (begin_index != string::npos) {
+ end_index = full.find_first_of(delim, begin_index);
+ if (end_index == string::npos) {
+ *result++ = full.substr(begin_index);
+ return;
+ }
+ *result++ = full.substr(begin_index, (end_index - begin_index));
+ begin_index = full.find_first_not_of(delim, end_index);
+ }
+}
+
+void SplitStringUsing(const string& full,
+ const char* delim,
+ vector<string>* result) {
+ result->reserve(result->size() + CalculateReserveForVector(full, delim));
+ back_insert_iterator< vector<string> > it(*result);
+ SplitStringToIteratorUsing(full, delim, it);
+}
+
+} // namespace ceres
diff --git a/internal/ceres/split.h b/internal/ceres/split.h
new file mode 100644
index 0000000..4df48c3
--- /dev/null
+++ b/internal/ceres/split.h
@@ -0,0 +1,21 @@
+// Copyright 2011 Google Inc. All Rights Reserved.
+// Author: keir@google.com (Keir Mierle)
+
+#ifndef CERES_INTERNAL_SPLIT_H_
+#define CERES_INTERNAL_SPLIT_H_
+
+#include <string>
+#include <vector>
+#include "ceres/internal/port.h"
+
+namespace ceres {
+
+// Split a string using one or more character delimiters, presented as a
+// nul-terminated c string. Append the components to 'result'. If there are
+// consecutive delimiters, this function skips over all of them.
+void SplitStringUsing(const string& full, const char* delim,
+ vector<string>* res);
+
+} // namespace ceres
+
+#endif // CERES_INTERNAL_SPLIT_H_
diff --git a/internal/ceres/stl_util.h b/internal/ceres/stl_util.h
new file mode 100644
index 0000000..a1a19e8
--- /dev/null
+++ b/internal/ceres/stl_util.h
@@ -0,0 +1,75 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#ifndef CERES_INTERNAL_STL_UTIL_H_
+#define CERES_INTERNAL_STL_UTIL_H_
+
+namespace ceres {
+
+// STLDeleteContainerPointers()
+// For a range within a container of pointers, calls delete
+// (non-array version) on these pointers.
+// NOTE: for these three functions, we could just implement a DeleteObject
+// functor and then call for_each() on the range and functor, but this
+// requires us to pull in all of algorithm.h, which seems expensive.
+// For hash_[multi]set, it is important that this deletes behind the iterator
+// because the hash_set may call the hash function on the iterator when it is
+// advanced, which could result in the hash function trying to deference a
+// stale pointer.
+template <class ForwardIterator>
+void STLDeleteContainerPointers(ForwardIterator begin,
+ ForwardIterator end) {
+ while (begin != end) {
+ ForwardIterator temp = begin;
+ ++begin;
+ delete *temp;
+ }
+}
+
+// STLDeleteElements() deletes all the elements in an STL container and clears
+// the container. This function is suitable for use with a vector, set,
+// hash_set, or any other STL container which defines sensible begin(), end(),
+// and clear() methods.
+//
+// If container is NULL, this function is a no-op.
+//
+// As an alternative to calling STLDeleteElements() directly, consider
+// ElementDeleter (defined below), which ensures that your container's elements
+// are deleted when the ElementDeleter goes out of scope.
+template <class T>
+void STLDeleteElements(T *container) {
+ if (!container) return;
+ STLDeleteContainerPointers(container->begin(), container->end());
+ container->clear();
+}
+
+} // namespace ceres
+
+#endif // CERES_INTERNAL_STL_UTIL_H_
diff --git a/internal/ceres/stringprintf.cc b/internal/ceres/stringprintf.cc
new file mode 100644
index 0000000..c0f3522
--- /dev/null
+++ b/internal/ceres/stringprintf.cc
@@ -0,0 +1,126 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: Sanjay Ghemawat
+
+#include <cerrno>
+#include <cstdarg> // For va_list and related operations
+#include <cstdio> // MSVC requires this for _vsnprintf
+#include <string>
+#include <vector>
+
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+#ifdef _MSC_VER
+enum { IS_COMPILER_MSVC = 1 };
+#define va_copy(d,s) ((d) = (s))
+#else
+enum { IS_COMPILER_MSVC = 0 };
+#endif
+
+void StringAppendV(string* dst, const char* format, va_list ap) {
+ // First try with a small fixed size buffer
+ char space[1024];
+
+ // It's possible for methods that use a va_list to invalidate
+ // the data in it upon use. The fix is to make a copy
+ // of the structure before using it and use that copy instead.
+ va_list backup_ap;
+ va_copy(backup_ap, ap);
+ int result = vsnprintf(space, sizeof(space), format, backup_ap);
+ va_end(backup_ap);
+
+ if (result < sizeof(space)) {
+ if (result >= 0) {
+ // Normal case -- everything fit.
+ dst->append(space, result);
+ return;
+ }
+
+ if (IS_COMPILER_MSVC) {
+ // Error or MSVC running out of space. MSVC 8.0 and higher
+ // can be asked about space needed with the special idiom below:
+ va_copy(backup_ap, ap);
+ result = vsnprintf(NULL, 0, format, backup_ap);
+ va_end(backup_ap);
+ }
+
+ if (result < 0) {
+ // Just an error.
+ return;
+ }
+ }
+
+ // Increase the buffer size to the size requested by vsnprintf,
+ // plus one for the closing \0.
+ int length = result+1;
+ char* buf = new char[length];
+
+ // Restore the va_list before we use it again
+ va_copy(backup_ap, ap);
+ result = vsnprintf(buf, length, format, backup_ap);
+ va_end(backup_ap);
+
+ if (result >= 0 && result < length) {
+ // It fit
+ dst->append(buf, result);
+ }
+ delete[] buf;
+}
+
+
+string StringPrintf(const char* format, ...) {
+ va_list ap;
+ va_start(ap, format);
+ string result;
+ StringAppendV(&result, format, ap);
+ va_end(ap);
+ return result;
+}
+
+const string& SStringPrintf(string* dst, const char* format, ...) {
+ va_list ap;
+ va_start(ap, format);
+ dst->clear();
+ StringAppendV(dst, format, ap);
+ va_end(ap);
+ return *dst;
+}
+
+void StringAppendF(string* dst, const char* format, ...) {
+ va_list ap;
+ va_start(ap, format);
+ StringAppendV(dst, format, ap);
+ va_end(ap);
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/stringprintf.h b/internal/ceres/stringprintf.h
new file mode 100644
index 0000000..f2f907a
--- /dev/null
+++ b/internal/ceres/stringprintf.h
@@ -0,0 +1,89 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: Sanjay Ghemawat
+//
+// Printf variants that place their output in a C++ string.
+//
+// Usage:
+// string result = StringPrintf("%d %s\n", 10, "hello");
+// SStringPrintf(&result, "%d %s\n", 10, "hello");
+// StringAppendF(&result, "%d %s\n", 20, "there");
+
+#ifndef CERES_INTERNAL_STRINGPRINTF_H_
+#define CERES_INTERNAL_STRINGPRINTF_H_
+
+#include <cstdarg>
+#include <string>
+
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+#if (defined(__GNUC__) || defined(__clang__))
+// Tell the compiler to do printf format string checking if the compiler
+// supports it; see the 'format' attribute in
+// <http://gcc.gnu.org/onlinedocs/gcc-4.3.0/gcc/Function-Attributes.html>.
+//
+// N.B.: As the GCC manual states, "[s]ince non-static C++ methods
+// have an implicit 'this' argument, the arguments of such methods
+// should be counted from two, not one."
+#define CERES_PRINTF_ATTRIBUTE(string_index, first_to_check) \
+ __attribute__((__format__ (__printf__, string_index, first_to_check)))
+#define CERES_SCANF_ATTRIBUTE(string_index, first_to_check) \
+ __attribute__((__format__ (__scanf__, string_index, first_to_check)))
+#else
+#define CERES_PRINTF_ATTRIBUTE(string_index, first_to_check)
+#endif
+
+// Return a C++ string.
+extern string StringPrintf(const char* format, ...)
+ // Tell the compiler to do printf format string checking.
+ CERES_PRINTF_ATTRIBUTE(1,2);
+
+// Store result into a supplied string and return it.
+extern const string& SStringPrintf(string* dst, const char* format, ...)
+ // Tell the compiler to do printf format string checking.
+ CERES_PRINTF_ATTRIBUTE(2,3);
+
+// Append result to a supplied string.
+extern void StringAppendF(string* dst, const char* format, ...)
+ // Tell the compiler to do printf format string checking.
+ CERES_PRINTF_ATTRIBUTE(2,3);
+
+// Lower-level routine that takes a va_list and appends to a specified string.
+// All other routines are just convenience wrappers around it.
+extern void StringAppendV(string* dst, const char* format, va_list ap);
+
+#undef CERES_PRINTF_ATTRIBUTE
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_STRINGPRINTF_H_
diff --git a/internal/ceres/suitesparse.cc b/internal/ceres/suitesparse.cc
new file mode 100644
index 0000000..cf3c48f
--- /dev/null
+++ b/internal/ceres/suitesparse.cc
@@ -0,0 +1,346 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_NO_SUITESPARSE
+#include "ceres/suitesparse.h"
+
+#include <vector>
+#include "cholmod.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/triplet_sparse_matrix.h"
+namespace ceres {
+namespace internal {
+cholmod_sparse* SuiteSparse::CreateSparseMatrix(TripletSparseMatrix* A) {
+ cholmod_triplet triplet;
+
+ triplet.nrow = A->num_rows();
+ triplet.ncol = A->num_cols();
+ triplet.nzmax = A->max_num_nonzeros();
+ triplet.nnz = A->num_nonzeros();
+ triplet.i = reinterpret_cast<void*>(A->mutable_rows());
+ triplet.j = reinterpret_cast<void*>(A->mutable_cols());
+ triplet.x = reinterpret_cast<void*>(A->mutable_values());
+ triplet.stype = 0; // Matrix is not symmetric.
+ triplet.itype = CHOLMOD_INT;
+ triplet.xtype = CHOLMOD_REAL;
+ triplet.dtype = CHOLMOD_DOUBLE;
+
+ return cholmod_triplet_to_sparse(&triplet, triplet.nnz, &cc_);
+}
+
+
+cholmod_sparse* SuiteSparse::CreateSparseMatrixTranspose(
+ TripletSparseMatrix* A) {
+ cholmod_triplet triplet;
+
+ triplet.ncol = A->num_rows(); // swap row and columns
+ triplet.nrow = A->num_cols();
+ triplet.nzmax = A->max_num_nonzeros();
+ triplet.nnz = A->num_nonzeros();
+
+ // swap rows and columns
+ triplet.j = reinterpret_cast<void*>(A->mutable_rows());
+ triplet.i = reinterpret_cast<void*>(A->mutable_cols());
+ triplet.x = reinterpret_cast<void*>(A->mutable_values());
+ triplet.stype = 0; // Matrix is not symmetric.
+ triplet.itype = CHOLMOD_INT;
+ triplet.xtype = CHOLMOD_REAL;
+ triplet.dtype = CHOLMOD_DOUBLE;
+
+ return cholmod_triplet_to_sparse(&triplet, triplet.nnz, &cc_);
+}
+
+cholmod_sparse* SuiteSparse::CreateSparseMatrixTransposeView(
+ CompressedRowSparseMatrix* A) {
+ cholmod_sparse* m = new cholmod_sparse_struct;
+ m->nrow = A->num_cols();
+ m->ncol = A->num_rows();
+ m->nzmax = A->num_nonzeros();
+
+ m->p = reinterpret_cast<void*>(A->mutable_rows());
+ m->i = reinterpret_cast<void*>(A->mutable_cols());
+ m->x = reinterpret_cast<void*>(A->mutable_values());
+
+ m->stype = 0; // Matrix is not symmetric.
+ m->itype = CHOLMOD_INT;
+ m->xtype = CHOLMOD_REAL;
+ m->dtype = CHOLMOD_DOUBLE;
+ m->sorted = 1;
+ m->packed = 1;
+
+ return m;
+}
+
+cholmod_dense* SuiteSparse::CreateDenseVector(const double* x,
+ int in_size,
+ int out_size) {
+ CHECK_LE(in_size, out_size);
+ cholmod_dense* v = cholmod_zeros(out_size, 1, CHOLMOD_REAL, &cc_);
+ if (x != NULL) {
+ memcpy(v->x, x, in_size*sizeof(*x));
+ }
+ return v;
+}
+
+cholmod_factor* SuiteSparse::AnalyzeCholesky(cholmod_sparse* A) {
+ // Cholmod can try multiple re-ordering strategies to find a fill
+ // reducing ordering. Here we just tell it use AMD with automatic
+ // matrix dependence choice of supernodal versus simplicial
+ // factorization.
+ cc_.nmethods = 1;
+ cc_.method[0].ordering = CHOLMOD_AMD;
+ cc_.supernodal = CHOLMOD_AUTO;
+ cholmod_factor* factor = cholmod_analyze(A, &cc_);
+ CHECK_EQ(cc_.status, CHOLMOD_OK)
+ << "Cholmod symbolic analysis failed " << cc_.status;
+ CHECK_NOTNULL(factor);
+ return factor;
+}
+
+cholmod_factor* SuiteSparse::BlockAnalyzeCholesky(
+ cholmod_sparse* A,
+ const vector<int>& row_blocks,
+ const vector<int>& col_blocks) {
+ vector<int> ordering;
+ if (!BlockAMDOrdering(A, row_blocks, col_blocks, &ordering)) {
+ return NULL;
+ }
+ return AnalyzeCholeskyWithUserOrdering(A, ordering);
+}
+
+cholmod_factor* SuiteSparse::AnalyzeCholeskyWithUserOrdering(cholmod_sparse* A,
+ const vector<int>& ordering) {
+ CHECK_EQ(ordering.size(), A->nrow);
+ cc_.nmethods = 1 ;
+ cc_.method[0].ordering = CHOLMOD_GIVEN;
+ cholmod_factor* factor =
+ cholmod_analyze_p(A, const_cast<int*>(&ordering[0]), NULL, 0, &cc_);
+ CHECK_EQ(cc_.status, CHOLMOD_OK)
+ << "Cholmod symbolic analysis failed " << cc_.status;
+ CHECK_NOTNULL(factor);
+ return factor;
+}
+
+bool SuiteSparse::BlockAMDOrdering(const cholmod_sparse* A,
+ const vector<int>& row_blocks,
+ const vector<int>& col_blocks,
+ vector<int>* ordering) {
+ const int num_row_blocks = row_blocks.size();
+ const int num_col_blocks = col_blocks.size();
+
+ // Arrays storing the compressed column structure of the matrix
+ // incoding the block sparsity of A.
+ vector<int> block_cols;
+ vector<int> block_rows;
+
+ ScalarMatrixToBlockMatrix(A,
+ row_blocks,
+ col_blocks,
+ &block_rows,
+ &block_cols);
+
+ cholmod_sparse_struct block_matrix;
+ block_matrix.nrow = num_row_blocks;
+ block_matrix.ncol = num_col_blocks;
+ block_matrix.nzmax = block_rows.size();
+ block_matrix.p = reinterpret_cast<void*>(&block_cols[0]);
+ block_matrix.i = reinterpret_cast<void*>(&block_rows[0]);
+ block_matrix.x = NULL;
+ block_matrix.stype = A->stype;
+ block_matrix.itype = CHOLMOD_INT;
+ block_matrix.xtype = CHOLMOD_PATTERN;
+ block_matrix.dtype = CHOLMOD_DOUBLE;
+ block_matrix.sorted = 1;
+ block_matrix.packed = 1;
+
+ vector<int> block_ordering(num_row_blocks);
+ if (!cholmod_amd(&block_matrix, NULL, 0, &block_ordering[0], &cc_)) {
+ return false;
+ }
+
+ BlockOrderingToScalarOrdering(row_blocks, block_ordering, ordering);
+ return true;
+}
+
+void SuiteSparse::ScalarMatrixToBlockMatrix(const cholmod_sparse* A,
+ const vector<int>& row_blocks,
+ const vector<int>& col_blocks,
+ vector<int>* block_rows,
+ vector<int>* block_cols) {
+ CHECK_NOTNULL(block_rows)->clear();
+ CHECK_NOTNULL(block_cols)->clear();
+ const int num_row_blocks = row_blocks.size();
+ const int num_col_blocks = col_blocks.size();
+
+ vector<int> row_block_starts(num_row_blocks);
+ for (int i = 0, cursor = 0; i < num_row_blocks; ++i) {
+ row_block_starts[i] = cursor;
+ cursor += row_blocks[i];
+ }
+
+ // The reinterpret_cast is needed here because CHOLMOD stores arrays
+ // as void*.
+ const int* scalar_cols = reinterpret_cast<const int*>(A->p);
+ const int* scalar_rows = reinterpret_cast<const int*>(A->i);
+
+ // This loop extracts the block sparsity of the scalar sparse matrix
+ // A. It does so by iterating over the columns, but only considering
+ // the columns corresponding to the first element of each column
+ // block. Within each column, the inner loop iterates over the rows,
+ // and detects the presence of a row block by checking for the
+ // presence of a non-zero entry corresponding to its first element.
+ block_cols->push_back(0);
+ int c = 0;
+ for (int col_block = 0; col_block < num_col_blocks; ++col_block) {
+ int column_size = 0;
+ for (int idx = scalar_cols[c]; idx < scalar_cols[c + 1]; ++idx) {
+ vector<int>::const_iterator it = lower_bound(row_block_starts.begin(),
+ row_block_starts.end(),
+ scalar_rows[idx]);
+ // Since we are using lower_bound, it will return the row id
+ // where the row block starts. For everything but the first row
+ // of the block, where these values will be the same, we can
+ // skip, as we only need the first row to detect the presence of
+ // the block.
+ //
+ // For rows all but the first row in the last row block,
+ // lower_bound will return row_block_starts.end(), but those can
+ // be skipped like the rows in other row blocks too.
+ if (it == row_block_starts.end() || *it != scalar_rows[idx]) {
+ continue;
+ }
+
+ block_rows->push_back(it - row_block_starts.begin());
+ ++column_size;
+ }
+ block_cols->push_back(block_cols->back() + column_size);
+ c += col_blocks[col_block];
+ }
+}
+
+void SuiteSparse::BlockOrderingToScalarOrdering(
+ const vector<int>& blocks,
+ const vector<int>& block_ordering,
+ vector<int>* scalar_ordering) {
+ CHECK_EQ(blocks.size(), block_ordering.size());
+ const int num_blocks = blocks.size();
+
+ // block_starts = [0, block1, block1 + block2 ..]
+ vector<int> block_starts(num_blocks);
+ for (int i = 0, cursor = 0; i < num_blocks ; ++i) {
+ block_starts[i] = cursor;
+ cursor += blocks[i];
+ }
+
+ scalar_ordering->resize(block_starts.back() + blocks.back());
+ int cursor = 0;
+ for (int i = 0; i < num_blocks; ++i) {
+ const int block_id = block_ordering[i];
+ const int block_size = blocks[block_id];
+ int block_position = block_starts[block_id];
+ for (int j = 0; j < block_size; ++j) {
+ (*scalar_ordering)[cursor++] = block_position++;
+ }
+ }
+}
+
+bool SuiteSparse::Cholesky(cholmod_sparse* A, cholmod_factor* L) {
+ CHECK_NOTNULL(A);
+ CHECK_NOTNULL(L);
+
+ cc_.quick_return_if_not_posdef = 1;
+ int status = cholmod_factorize(A, L, &cc_);
+ switch (cc_.status) {
+ case CHOLMOD_NOT_INSTALLED:
+ LOG(WARNING) << "Cholmod failure: method not installed.";
+ return false;
+ case CHOLMOD_OUT_OF_MEMORY:
+ LOG(WARNING) << "Cholmod failure: out of memory.";
+ return false;
+ case CHOLMOD_TOO_LARGE:
+ LOG(WARNING) << "Cholmod failure: integer overflow occured.";
+ return false;
+ case CHOLMOD_INVALID:
+ LOG(WARNING) << "Cholmod failure: invalid input.";
+ return false;
+ case CHOLMOD_NOT_POSDEF:
+ // TODO(sameeragarwal): These two warnings require more
+ // sophisticated handling going forward. For now we will be
+ // strict and treat them as failures.
+ LOG(WARNING) << "Cholmod warning: matrix not positive definite.";
+ return false;
+ case CHOLMOD_DSMALL:
+ LOG(WARNING) << "Cholmod warning: D for LDL' or diag(L) or "
+ << "LL' has tiny absolute value.";
+ return false;
+ case CHOLMOD_OK:
+ if (status != 0) {
+ return true;
+ }
+ LOG(WARNING) << "Cholmod failure: cholmod_factorize returned zero "
+ << "but cholmod_common::status is CHOLMOD_OK."
+ << "Please report this to ceres-solver@googlegroups.com.";
+ return false;
+ default:
+ LOG(WARNING) << "Unknown cholmod return code. "
+ << "Please report this to ceres-solver@googlegroups.com.";
+ return false;
+ }
+ return false;
+}
+
+cholmod_dense* SuiteSparse::Solve(cholmod_factor* L,
+ cholmod_dense* b) {
+ if (cc_.status != CHOLMOD_OK) {
+ LOG(WARNING) << "CHOLMOD status NOT OK";
+ return NULL;
+ }
+
+ return cholmod_solve(CHOLMOD_A, L, b, &cc_);
+}
+
+cholmod_dense* SuiteSparse::SolveCholesky(cholmod_sparse* A,
+ cholmod_factor* L,
+ cholmod_dense* b) {
+ CHECK_NOTNULL(A);
+ CHECK_NOTNULL(L);
+ CHECK_NOTNULL(b);
+
+ if (Cholesky(A, L)) {
+ return Solve(L, b);
+ }
+
+ return NULL;
+}
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_NO_SUITESPARSE
diff --git a/internal/ceres/suitesparse.h b/internal/ceres/suitesparse.h
new file mode 100644
index 0000000..eb691c0
--- /dev/null
+++ b/internal/ceres/suitesparse.h
@@ -0,0 +1,233 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// A simple C++ interface to the SuiteSparse and CHOLMOD libraries.
+
+#ifndef CERES_INTERNAL_SUITESPARSE_H_
+#define CERES_INTERNAL_SUITESPARSE_H_
+
+#ifndef CERES_NO_SUITESPARSE
+
+#include <cstring>
+#include <string>
+#include <vector>
+
+#include <glog/logging.h>
+#include "cholmod.h"
+#include "ceres/internal/port.h"
+
+namespace ceres {
+namespace internal {
+
+class CompressedRowSparseMatrix;
+class TripletSparseMatrix;
+
+// The raw CHOLMOD and SuiteSparseQR libraries have a slightly
+// cumbersome c like calling format. This object abstracts it away and
+// provides the user with a simpler interface. The methods here cannot
+// be static as a cholmod_common object serves as a global variable
+// for all cholmod function calls.
+class SuiteSparse {
+ public:
+ SuiteSparse() { cholmod_start(&cc_); }
+ ~SuiteSparse() { cholmod_finish(&cc_); }
+
+ // Functions for building cholmod_sparse objects from sparse
+ // matrices stored in triplet form. The matrix A is not
+ // modifed. Called owns the result.
+ cholmod_sparse* CreateSparseMatrix(TripletSparseMatrix* A);
+
+ // This function works like CreateSparseMatrix, except that the
+ // return value corresponds to A' rather than A.
+ cholmod_sparse* CreateSparseMatrixTranspose(TripletSparseMatrix* A);
+
+ // Create a cholmod_sparse wrapper around the contents of A. This is
+ // a shallow object, which refers to the contents of A and does not
+ // use the SuiteSparse machinery to allocate memory, this object
+ // should be disposed off with a delete and not a call to Free as is
+ // the case for objects returned by CreateSparseMatrixTranspose.
+ cholmod_sparse* CreateSparseMatrixTransposeView(CompressedRowSparseMatrix* A);
+
+ // Given a vector x, build a cholmod_dense vector of size out_size
+ // with the first in_size entries copied from x. If x is NULL, then
+ // an all zeros vector is returned. Caller owns the result.
+ cholmod_dense* CreateDenseVector(const double* x, int in_size, int out_size);
+
+ // The matrix A is scaled using the matrix whose diagonal is the
+ // vector scale. mode describes how scaling is applied. Possible
+ // values are CHOLMOD_ROW for row scaling - diag(scale) * A,
+ // CHOLMOD_COL for column scaling - A * diag(scale) and CHOLMOD_SYM
+ // for symmetric scaling which scales both the rows and the columns
+ // - diag(scale) * A * diag(scale).
+ void Scale(cholmod_dense* scale, int mode, cholmod_sparse* A) {
+ cholmod_scale(scale, mode, A, &cc_);
+ }
+
+ // Create and return a matrix m = A * A'. Caller owns the
+ // result. The matrix A is not modified.
+ cholmod_sparse* AATranspose(cholmod_sparse* A) {
+ cholmod_sparse*m = cholmod_aat(A, NULL, A->nrow, 1, &cc_);
+ m->stype = 1; // Pay attention to the upper triangular part.
+ return m;
+ }
+
+ // y = alpha * A * x + beta * y. Only y is modified.
+ void SparseDenseMultiply(cholmod_sparse* A, double alpha, double beta,
+ cholmod_dense* x, cholmod_dense* y) {
+ double alpha_[2] = {alpha, 0};
+ double beta_[2] = {beta, 0};
+ cholmod_sdmult(A, 0, alpha_, beta_, x, y, &cc_);
+ }
+
+ // Find an ordering of A or AA' (if A is unsymmetric) that minimizes
+ // the fill-in in the Cholesky factorization of the corresponding
+ // matrix. This is done by using the AMD algorithm.
+ //
+ // Using this ordering, the symbolic Cholesky factorization of A (or
+ // AA') is computed and returned.
+ //
+ // A is not modified, only the pattern of non-zeros of A is used,
+ // the actual numerical values in A are of no consequence.
+ //
+ // Caller owns the result.
+ cholmod_factor* AnalyzeCholesky(cholmod_sparse* A);
+
+ cholmod_factor* BlockAnalyzeCholesky(cholmod_sparse* A,
+ const vector<int>& row_blocks,
+ const vector<int>& col_blocks);
+
+ // If A is symmetric, then compute the symbolic Cholesky
+ // factorization of A(ordering, ordering). If A is unsymmetric, then
+ // compute the symbolic factorization of
+ // A(ordering,:) A(ordering,:)'.
+ //
+ // A is not modified, only the pattern of non-zeros of A is used,
+ // the actual numerical values in A are of no consequence.
+ //
+ // Caller owns the result.
+ cholmod_factor* AnalyzeCholeskyWithUserOrdering(cholmod_sparse* A,
+ const vector<int>& ordering);
+
+ // Use the symbolic factorization in L, to find the numerical
+ // factorization for the matrix A or AA^T. Return true if
+ // successful, false otherwise. L contains the numeric factorization
+ // on return.
+ bool Cholesky(cholmod_sparse* A, cholmod_factor* L);
+
+ // Given a Cholesky factorization of a matrix A = LL^T, solve the
+ // linear system Ax = b, and return the result. If the Solve fails
+ // NULL is returned. Caller owns the result.
+ cholmod_dense* Solve(cholmod_factor* L, cholmod_dense* b);
+
+ // Combine the calls to Cholesky and Solve into a single call. If
+ // the cholesky factorization or the solve fails, return
+ // NULL. Caller owns the result.
+ cholmod_dense* SolveCholesky(cholmod_sparse* A,
+ cholmod_factor* L,
+ cholmod_dense* b);
+
+ // By virtue of the modeling layer in Ceres being block oriented,
+ // all the matrices used by Ceres are also block oriented. When
+ // doing sparse direct factorization of these matrices the
+ // fill-reducing ordering algorithms (in particular AMD) can either
+ // be run on the block or the scalar form of these matrices. The two
+ // SuiteSparse::AnalyzeCholesky methods allows the the client to
+ // compute the symbolic factorization of a matrix by either using
+ // AMD on the matrix or a user provided ordering of the rows.
+ //
+ // But since the underlying matrices are block oriented, it is worth
+ // running AMD on just the block structre of these matrices and then
+ // lifting these block orderings to a full scalar ordering. This
+ // preserves the block structure of the permuted matrix, and exposes
+ // more of the super-nodal structure of the matrix to the numerical
+ // factorization routines.
+ //
+ // Find the block oriented AMD ordering of a matrix A, whose row and
+ // column blocks are given by row_blocks, and col_blocks
+ // respectively. The matrix may or may not be symmetric. The entries
+ // of col_blocks do not need to sum to the number of columns in
+ // A. If this is the case, only the first sum(col_blocks) are used
+ // to compute the ordering.
+ bool BlockAMDOrdering(const cholmod_sparse* A,
+ const vector<int>& row_blocks,
+ const vector<int>& col_blocks,
+ vector<int>* ordering);
+
+ // Given a set of blocks and a permutation of these blocks, compute
+ // the corresponding "scalar" ordering, where the scalar ordering of
+ // size sum(blocks).
+ static void BlockOrderingToScalarOrdering(const vector<int>& blocks,
+ const vector<int>& block_ordering,
+ vector<int>* scalar_ordering);
+
+ // Extract the block sparsity pattern of the scalar sparse matrix
+ // A and return it in compressed column form. The compressed column
+ // form is stored in two vectors block_rows, and block_cols, which
+ // correspond to the row and column arrays in a compressed column sparse
+ // matrix.
+ //
+ // If c_ij is the block in the matrix A corresponding to row block i
+ // and column block j, then it is expected that A contains at least
+ // one non-zero entry corresponding to the top left entry of c_ij,
+ // as that entry is used to detect the presence of a non-zero c_ij.
+ static void ScalarMatrixToBlockMatrix(const cholmod_sparse* A,
+ const vector<int>& row_blocks,
+ const vector<int>& col_blocks,
+ vector<int>* block_rows,
+ vector<int>* block_cols);
+
+ void Free(cholmod_sparse* m) { cholmod_free_sparse(&m, &cc_); }
+ void Free(cholmod_dense* m) { cholmod_free_dense(&m, &cc_); }
+ void Free(cholmod_factor* m) { cholmod_free_factor(&m, &cc_); }
+
+ void Print(cholmod_sparse* m, const string& name) {
+ cholmod_print_sparse(m, const_cast<char*>(name.c_str()), &cc_);
+ }
+
+ void Print(cholmod_dense* m, const string& name) {
+ cholmod_print_dense(m, const_cast<char*>(name.c_str()), &cc_);
+ }
+
+ void Print(cholmod_triplet* m, const string& name) {
+ cholmod_print_triplet(m, const_cast<char*>(name.c_str()), &cc_);
+ }
+
+ cholmod_common* mutable_cc() { return &cc_; }
+
+ private:
+ cholmod_common cc_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_NO_SUITESPARSE
+
+#endif // CERES_INTERNAL_SUITESPARSE_H_
diff --git a/internal/ceres/suitesparse_test.cc b/internal/ceres/suitesparse_test.cc
new file mode 100644
index 0000000..72e3e68
--- /dev/null
+++ b/internal/ceres/suitesparse_test.cc
@@ -0,0 +1,194 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include <algorithm>
+#include "ceres/internal/port.h"
+#include "ceres/suitesparse.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(SuiteSparse, BlockPermutationToScalarPermutation) {
+ vector<int> blocks;
+ // Block structure
+ // 0 --1- ---2--- ---3--- 4
+ // [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]
+ blocks.push_back(1);
+ blocks.push_back(2);
+ blocks.push_back(3);
+ blocks.push_back(3);
+ blocks.push_back(1);
+
+ // Block ordering
+ // [1, 0, 2, 4, 5]
+ vector<int> block_ordering;
+ block_ordering.push_back(1);
+ block_ordering.push_back(0);
+ block_ordering.push_back(2);
+ block_ordering.push_back(4);
+ block_ordering.push_back(3);
+
+ // Expected ordering
+ // [1, 2, 0, 3, 4, 5, 9, 6, 7, 8]
+ vector<int> expected_scalar_ordering;
+ expected_scalar_ordering.push_back(1);
+ expected_scalar_ordering.push_back(2);
+ expected_scalar_ordering.push_back(0);
+ expected_scalar_ordering.push_back(3);
+ expected_scalar_ordering.push_back(4);
+ expected_scalar_ordering.push_back(5);
+ expected_scalar_ordering.push_back(9);
+ expected_scalar_ordering.push_back(6);
+ expected_scalar_ordering.push_back(7);
+ expected_scalar_ordering.push_back(8);
+
+ vector<int> scalar_ordering;
+ SuiteSparse::BlockOrderingToScalarOrdering(blocks,
+ block_ordering,
+ &scalar_ordering);
+ EXPECT_EQ(scalar_ordering.size(), expected_scalar_ordering.size());
+ for (int i = 0; i < expected_scalar_ordering.size(); ++i) {
+ EXPECT_EQ(scalar_ordering[i], expected_scalar_ordering[i]);
+ }
+}
+
+// Helper function to fill the sparsity pattern of a TripletSparseMatrix.
+int FillBlock(const vector<int>& row_blocks,
+ const vector<int>& col_blocks,
+ const int row_block_id,
+ const int col_block_id,
+ int* rows,
+ int* cols) {
+ int row_pos = 0;
+ for (int i = 0; i < row_block_id; ++i) {
+ row_pos += row_blocks[i];
+ }
+
+ int col_pos = 0;
+ for (int i = 0; i < col_block_id; ++i) {
+ col_pos += col_blocks[i];
+ }
+
+ int offset = 0;
+ for (int r = 0; r < row_blocks[row_block_id]; ++r) {
+ for (int c = 0; c < col_blocks[col_block_id]; ++c, ++offset) {
+ rows[offset] = row_pos + r;
+ cols[offset] = col_pos + c;
+ }
+ }
+ return offset;
+}
+
+TEST(SuiteSparse, ScalarMatrixToBlockMatrix) {
+ // Block sparsity.
+ //
+ // [1 2 3 2]
+ // [1] x x
+ // [2] x x
+ // [2] x x
+ // num_nonzeros = 1 + 3 + 4 + 4 + 1 + 2 = 15
+
+ vector<int> col_blocks;
+ col_blocks.push_back(1);
+ col_blocks.push_back(2);
+ col_blocks.push_back(3);
+ col_blocks.push_back(2);
+
+ vector<int> row_blocks;
+ row_blocks.push_back(1);
+ row_blocks.push_back(2);
+ row_blocks.push_back(2);
+
+ TripletSparseMatrix tsm(5, 8, 18);
+ int* rows = tsm.mutable_rows();
+ int* cols = tsm.mutable_cols();
+ fill(tsm.mutable_values(), tsm.mutable_values() + 18, 1.0);
+ int offset = 0;
+
+#define CERES_TEST_FILL_BLOCK(row_block_id, col_block_id) \
+ offset += FillBlock(row_blocks, col_blocks, \
+ row_block_id, col_block_id, \
+ rows + offset, cols + offset);
+
+ CERES_TEST_FILL_BLOCK(0, 0);
+ CERES_TEST_FILL_BLOCK(2, 0);
+ CERES_TEST_FILL_BLOCK(1, 1);
+ CERES_TEST_FILL_BLOCK(2, 1);
+ CERES_TEST_FILL_BLOCK(0, 2);
+ CERES_TEST_FILL_BLOCK(1, 3);
+#undef CERES_TEST_FILL_BLOCK
+
+ tsm.set_num_nonzeros(offset);
+
+ SuiteSparse ss;
+ scoped_ptr<cholmod_sparse> ccsm(ss.CreateSparseMatrix(&tsm));
+
+ vector<int> expected_block_rows;
+ expected_block_rows.push_back(0);
+ expected_block_rows.push_back(2);
+ expected_block_rows.push_back(1);
+ expected_block_rows.push_back(2);
+ expected_block_rows.push_back(0);
+ expected_block_rows.push_back(1);
+
+ vector<int> expected_block_cols;
+ expected_block_cols.push_back(0);
+ expected_block_cols.push_back(2);
+ expected_block_cols.push_back(4);
+ expected_block_cols.push_back(5);
+ expected_block_cols.push_back(6);
+
+ vector<int> block_rows;
+ vector<int> block_cols;
+ SuiteSparse::ScalarMatrixToBlockMatrix(ccsm.get(),
+ row_blocks,
+ col_blocks,
+ &block_rows,
+ &block_cols);
+
+ EXPECT_EQ(block_cols.size(), expected_block_cols.size());
+ EXPECT_EQ(block_rows.size(), expected_block_rows.size());
+
+ for (int i = 0; i < expected_block_cols.size(); ++i) {
+ EXPECT_EQ(block_cols[i], expected_block_cols[i]);
+ }
+
+ for (int i = 0; i < expected_block_rows.size(); ++i) {
+ EXPECT_EQ(block_rows[i], expected_block_rows[i]);
+ }
+
+ ss.Free(ccsm.release());
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/symmetric_linear_solver_test.cc b/internal/ceres/symmetric_linear_solver_test.cc
new file mode 100644
index 0000000..f33adb4
--- /dev/null
+++ b/internal/ceres/symmetric_linear_solver_test.cc
@@ -0,0 +1,139 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: fredp@google.com (Fred Pighin)
+//
+// Tests for linear solvers that solve symmetric linear systems. Some
+// of this code is inhertited from Fred Pighin's code for testing the
+// old Conjugate Gradients solver.
+//
+// TODO(sameeragarwal): More comprehensive testing with larger and
+// more badly conditioned problem.
+
+#include "gtest/gtest.h"
+#include "ceres/conjugate_gradients_solver.h"
+#include "ceres/linear_solver.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(ConjugateGradientTest, Solves3x3IdentitySystem) {
+ double diagonal[] = { 1.0, 1.0, 1.0 };
+ scoped_ptr<TripletSparseMatrix>
+ A(TripletSparseMatrix::CreateSparseDiagonalMatrix(diagonal, 3));
+ Vector b(3);
+ Vector x(3);
+
+ b(0) = 1.0;
+ b(1) = 2.0;
+ b(2) = 3.0;
+
+ x(0) = 1;
+ x(1) = 1;
+ x(2) = 1;
+
+ LinearSolver::Options options;
+ options.max_num_iterations = 10;
+
+ LinearSolver::PerSolveOptions per_solve_options;
+ per_solve_options.r_tolerance = 1e-9;
+
+ ConjugateGradientsSolver solver(options);
+ LinearSolver::Summary summary =
+ solver.Solve(A.get(), b.data(), per_solve_options, x.data());
+
+ EXPECT_EQ(summary.termination_type, TOLERANCE);
+ ASSERT_EQ(summary.num_iterations, 1);
+
+ ASSERT_DOUBLE_EQ(1, x(0));
+ ASSERT_DOUBLE_EQ(2, x(1));
+ ASSERT_DOUBLE_EQ(3, x(2));
+}
+
+
+TEST(ConjuateGradientTest, Solves3x3SymmetricSystem) {
+ scoped_ptr<TripletSparseMatrix> A(new TripletSparseMatrix(3, 3, 9));
+ Vector b(3);
+ Vector x(3);
+
+ // | 2 -1 0|
+ // A = |-1 2 -1| is symmetric positive definite.
+ // | 0 -1 2|
+ int* Ai = A->mutable_rows();
+ int* Aj = A->mutable_cols();
+ double* Ax = A->mutable_values();
+ int counter = 0;
+ for (int i = 0; i < 3; ++i) {
+ for (int j = 0; j < 3; ++j) {
+ Ai[counter] = i;
+ Aj[counter] = j;
+ ++counter;
+ }
+ }
+ Ax[0] = 2.;
+ Ax[1] = -1.;
+ Ax[2] = 0;
+ Ax[3] = -1.;
+ Ax[4] = 2;
+ Ax[5] = -1;
+ Ax[6] = 0;
+ Ax[7] = -1;
+ Ax[8] = 2;
+ A->set_num_nonzeros(9);
+
+ b(0) = -1;
+ b(1) = 0;
+ b(2) = 3;
+
+ x(0) = 1;
+ x(1) = 1;
+ x(2) = 1;
+
+ LinearSolver::Options options;
+ options.max_num_iterations = 10;
+
+ LinearSolver::PerSolveOptions per_solve_options;
+ per_solve_options.r_tolerance = 1e-9;
+
+ ConjugateGradientsSolver solver(options);
+ LinearSolver::Summary summary =
+ solver.Solve(A.get(), b.data(), per_solve_options, x.data());
+
+ EXPECT_EQ(summary.termination_type, TOLERANCE);
+
+ ASSERT_DOUBLE_EQ(0, x(0));
+ ASSERT_DOUBLE_EQ(1, x(1));
+ ASSERT_DOUBLE_EQ(2, x(2));
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/system_test.cc b/internal/ceres/system_test.cc
new file mode 100644
index 0000000..4548bd0
--- /dev/null
+++ b/internal/ceres/system_test.cc
@@ -0,0 +1,537 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+// sameeragarwal@google.com (Sameer Agarwal)
+//
+// System level tests for Ceres. The current suite of two tests. The
+// first test is a small test based on Powell's Function. It is a
+// scalar problem with 4 variables. The second problem is a bundle
+// adjustment problem with 16 cameras and two thousand cameras. The
+// first problem is to test the sanity test the factorization based
+// solvers. The second problem is used to test the various
+// combinations of solvers, orderings, preconditioners and
+// multithreading.
+
+#include <cmath>
+#include <cstdio>
+#include <cstdlib>
+#include <string>
+
+#include "ceres/autodiff_cost_function.h"
+#include "ceres/ordered_groups.h"
+#include "ceres/problem.h"
+#include "ceres/rotation.h"
+#include "ceres/solver.h"
+#include "ceres/stringprintf.h"
+#include "ceres/test_util.h"
+#include "ceres/types.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+const bool kAutomaticOrdering = true;
+const bool kUserOrdering = false;
+
+// Struct used for configuring the solver.
+struct SolverConfig {
+ SolverConfig(LinearSolverType linear_solver_type,
+ SparseLinearAlgebraLibraryType sparse_linear_algebra_library,
+ bool use_automatic_ordering)
+ : linear_solver_type(linear_solver_type),
+ sparse_linear_algebra_library(sparse_linear_algebra_library),
+ use_automatic_ordering(use_automatic_ordering),
+ preconditioner_type(IDENTITY),
+ num_threads(1) {
+ }
+
+ SolverConfig(LinearSolverType linear_solver_type,
+ SparseLinearAlgebraLibraryType sparse_linear_algebra_library,
+ bool use_automatic_ordering,
+ PreconditionerType preconditioner_type)
+ : linear_solver_type(linear_solver_type),
+ sparse_linear_algebra_library(sparse_linear_algebra_library),
+ use_automatic_ordering(use_automatic_ordering),
+ preconditioner_type(preconditioner_type),
+ num_threads(1) {
+ }
+
+ string ToString() const {
+ return StringPrintf(
+ "(%s, %s, %s, %s, %d)",
+ LinearSolverTypeToString(linear_solver_type),
+ SparseLinearAlgebraLibraryTypeToString(sparse_linear_algebra_library),
+ use_automatic_ordering ? "AUTOMATIC" : "USER",
+ PreconditionerTypeToString(preconditioner_type),
+ num_threads);
+ }
+
+ LinearSolverType linear_solver_type;
+ SparseLinearAlgebraLibraryType sparse_linear_algebra_library;
+ bool use_automatic_ordering;
+ PreconditionerType preconditioner_type;
+ int num_threads;
+};
+
+// Templated function that given a set of solver configurations,
+// instantiates a new copy of SystemTestProblem for each configuration
+// and solves it. The solutions are expected to have residuals with
+// coordinate-wise maximum absolute difference less than or equal to
+// max_abs_difference.
+//
+// The template parameter SystemTestProblem is expected to implement
+// the following interface.
+//
+// class SystemTestProblem {
+// public:
+// SystemTestProblem();
+// Problem* mutable_problem();
+// Solver::Options* mutable_solver_options();
+// };
+template <typename SystemTestProblem>
+void RunSolversAndCheckTheyMatch(const vector<SolverConfig>& configurations,
+ const double max_abs_difference) {
+ int num_configurations = configurations.size();
+ vector<SystemTestProblem*> problems;
+ vector<Solver::Summary> summaries(num_configurations);
+
+ for (int i = 0; i < num_configurations; ++i) {
+ SystemTestProblem* system_test_problem = new SystemTestProblem();
+
+ const SolverConfig& config = configurations[i];
+
+ Solver::Options& options = *(system_test_problem->mutable_solver_options());
+ options.linear_solver_type = config.linear_solver_type;
+ options.sparse_linear_algebra_library =
+ config.sparse_linear_algebra_library;
+ options.preconditioner_type = config.preconditioner_type;
+ options.num_threads = config.num_threads;
+ options.num_linear_solver_threads = config.num_threads;
+ options.return_final_residuals = true;
+
+ if (config.use_automatic_ordering) {
+ delete options.linear_solver_ordering;
+ options.linear_solver_ordering = NULL;
+ }
+
+ LOG(INFO) << "Running solver configuration: "
+ << config.ToString();
+
+ Solve(options,
+ system_test_problem->mutable_problem(),
+ &summaries[i]);
+
+ CHECK_NE(summaries[i].termination_type, ceres::NUMERICAL_FAILURE)
+ << "Solver configuration " << i << " failed.";
+ problems.push_back(system_test_problem);
+
+ // Compare the resulting solutions to each other. Arbitrarily take
+ // SPARSE_NORMAL_CHOLESKY as the golden solve. We compare
+ // solutions by comparing their residual vectors. We do not
+ // compare parameter vectors because it is much more brittle and
+ // error prone to do so, since the same problem can have nearly
+ // the same residuals at two completely different positions in
+ // parameter space.
+ if (i > 0) {
+ const vector<double>& reference_residuals = summaries[0].final_residuals;
+ const vector<double>& current_residuals = summaries[i].final_residuals;
+
+ for (int j = 0; j < reference_residuals.size(); ++j) {
+ EXPECT_NEAR(current_residuals[j],
+ reference_residuals[j],
+ max_abs_difference)
+ << "Not close enough residual:" << j
+ << " reference " << reference_residuals[j]
+ << " current " << current_residuals[j];
+ }
+ }
+ }
+
+ for (int i = 0; i < num_configurations; ++i) {
+ delete problems[i];
+ }
+}
+
+// This class implements the SystemTestProblem interface and provides
+// access to an implementation of Powell's singular function.
+//
+// F = 1/2 (f1^2 + f2^2 + f3^2 + f4^2)
+//
+// f1 = x1 + 10*x2;
+// f2 = sqrt(5) * (x3 - x4)
+// f3 = (x2 - 2*x3)^2
+// f4 = sqrt(10) * (x1 - x4)^2
+//
+// The starting values are x1 = 3, x2 = -1, x3 = 0, x4 = 1.
+// The minimum is 0 at (x1, x2, x3, x4) = 0.
+//
+// From: Testing Unconstrained Optimization Software by Jorge J. More, Burton S.
+// Garbow and Kenneth E. Hillstrom in ACM Transactions on Mathematical Software,
+// Vol 7(1), March 1981.
+class PowellsFunction {
+ public:
+ PowellsFunction() {
+ x_[0] = 3.0;
+ x_[1] = -1.0;
+ x_[2] = 0.0;
+ x_[3] = 1.0;
+
+ problem_.AddResidualBlock(
+ new AutoDiffCostFunction<F1, 1, 1, 1>(new F1), NULL, &x_[0], &x_[1]);
+ problem_.AddResidualBlock(
+ new AutoDiffCostFunction<F2, 1, 1, 1>(new F2), NULL, &x_[2], &x_[3]);
+ problem_.AddResidualBlock(
+ new AutoDiffCostFunction<F3, 1, 1, 1>(new F3), NULL, &x_[1], &x_[2]);
+ problem_.AddResidualBlock(
+ new AutoDiffCostFunction<F4, 1, 1, 1>(new F4), NULL, &x_[0], &x_[3]);
+
+ options_.max_num_iterations = 10;
+ }
+
+ Problem* mutable_problem() { return &problem_; }
+ Solver::Options* mutable_solver_options() { return &options_; }
+
+ private:
+ // Templated functions used for automatically differentiated cost
+ // functions.
+ class F1 {
+ public:
+ template <typename T> bool operator()(const T* const x1,
+ const T* const x2,
+ T* residual) const {
+ // f1 = x1 + 10 * x2;
+ *residual = *x1 + T(10.0) * *x2;
+ return true;
+ }
+ };
+
+ class F2 {
+ public:
+ template <typename T> bool operator()(const T* const x3,
+ const T* const x4,
+ T* residual) const {
+ // f2 = sqrt(5) (x3 - x4)
+ *residual = T(sqrt(5.0)) * (*x3 - *x4);
+ return true;
+ }
+ };
+
+ class F3 {
+ public:
+ template <typename T> bool operator()(const T* const x2,
+ const T* const x4,
+ T* residual) const {
+ // f3 = (x2 - 2 x3)^2
+ residual[0] = (x2[0] - T(2.0) * x4[0]) * (x2[0] - T(2.0) * x4[0]);
+ return true;
+ }
+ };
+
+ class F4 {
+ public:
+ template <typename T> bool operator()(const T* const x1,
+ const T* const x4,
+ T* residual) const {
+ // f4 = sqrt(10) (x1 - x4)^2
+ residual[0] = T(sqrt(10.0)) * (x1[0] - x4[0]) * (x1[0] - x4[0]);
+ return true;
+ }
+ };
+
+ double x_[4];
+ Problem problem_;
+ Solver::Options options_;
+};
+
+TEST(SystemTest, PowellsFunction) {
+ vector<SolverConfig> configs;
+#define CONFIGURE(linear_solver, sparse_linear_algebra_library, ordering) \
+ configs.push_back(SolverConfig(linear_solver, \
+ sparse_linear_algebra_library, \
+ ordering))
+
+ CONFIGURE(DENSE_QR, SUITE_SPARSE, kAutomaticOrdering);
+ CONFIGURE(DENSE_NORMAL_CHOLESKY, SUITE_SPARSE, kAutomaticOrdering);
+ CONFIGURE(DENSE_SCHUR, SUITE_SPARSE, kAutomaticOrdering);
+
+#ifndef CERES_NO_SUITESPARSE
+ CONFIGURE(SPARSE_NORMAL_CHOLESKY, SUITE_SPARSE, kAutomaticOrdering);
+#endif // CERES_NO_SUITESPARSE
+
+#ifndef CERES_NO_CXSPARSE
+ CONFIGURE(SPARSE_NORMAL_CHOLESKY, CX_SPARSE, kAutomaticOrdering);
+#endif // CERES_NO_CXSPARSE
+
+ CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, kAutomaticOrdering);
+
+#undef CONFIGURE
+
+ const double kMaxAbsoluteDifference = 1e-8;
+ RunSolversAndCheckTheyMatch<PowellsFunction>(configs, kMaxAbsoluteDifference);
+}
+
+// This class implements the SystemTestProblem interface and provides
+// access to a bundle adjustment problem. It is based on
+// examples/bundle_adjustment_example.cc. Currently a small 16 camera
+// problem is hard coded in the constructor. Going forward we may
+// extend this to a larger number of problems.
+class BundleAdjustmentProblem {
+ public:
+ BundleAdjustmentProblem() {
+ const string input_file = TestFileAbsolutePath("problem-16-22106-pre.txt");
+ ReadData(input_file);
+ BuildProblem();
+ }
+
+ ~BundleAdjustmentProblem() {
+ delete []point_index_;
+ delete []camera_index_;
+ delete []observations_;
+ delete []parameters_;
+ }
+
+ Problem* mutable_problem() { return &problem_; }
+ Solver::Options* mutable_solver_options() { return &options_; }
+
+ int num_cameras() const { return num_cameras_; }
+ int num_points() const { return num_points_; }
+ int num_observations() const { return num_observations_; }
+ const int* point_index() const { return point_index_; }
+ const int* camera_index() const { return camera_index_; }
+ const double* observations() const { return observations_; }
+ double* mutable_cameras() { return parameters_; }
+ double* mutable_points() { return parameters_ + 9 * num_cameras_; }
+
+ private:
+ void ReadData(const string& filename) {
+ FILE * fptr = fopen(filename.c_str(), "r");
+
+ if (!fptr) {
+ LOG(FATAL) << "File Error: unable to open file " << filename;
+ };
+
+ // This will die horribly on invalid files. Them's the breaks.
+ FscanfOrDie(fptr, "%d", &num_cameras_);
+ FscanfOrDie(fptr, "%d", &num_points_);
+ FscanfOrDie(fptr, "%d", &num_observations_);
+
+ VLOG(1) << "Header: " << num_cameras_
+ << " " << num_points_
+ << " " << num_observations_;
+
+ point_index_ = new int[num_observations_];
+ camera_index_ = new int[num_observations_];
+ observations_ = new double[2 * num_observations_];
+
+ num_parameters_ = 9 * num_cameras_ + 3 * num_points_;
+ parameters_ = new double[num_parameters_];
+
+ for (int i = 0; i < num_observations_; ++i) {
+ FscanfOrDie(fptr, "%d", camera_index_ + i);
+ FscanfOrDie(fptr, "%d", point_index_ + i);
+ for (int j = 0; j < 2; ++j) {
+ FscanfOrDie(fptr, "%lf", observations_ + 2*i + j);
+ }
+ }
+
+ for (int i = 0; i < num_parameters_; ++i) {
+ FscanfOrDie(fptr, "%lf", parameters_ + i);
+ }
+ }
+
+ void BuildProblem() {
+ double* points = mutable_points();
+ double* cameras = mutable_cameras();
+
+ for (int i = 0; i < num_observations(); ++i) {
+ // Each Residual block takes a point and a camera as input and
+ // outputs a 2 dimensional residual.
+ CostFunction* cost_function =
+ new AutoDiffCostFunction<BundlerResidual, 2, 9, 3>(
+ new BundlerResidual(observations_[2*i + 0],
+ observations_[2*i + 1]));
+
+ // Each observation correponds to a pair of a camera and a point
+ // which are identified by camera_index()[i] and
+ // point_index()[i] respectively.
+ double* camera = cameras + 9 * camera_index_[i];
+ double* point = points + 3 * point_index()[i];
+ problem_.AddResidualBlock(cost_function, NULL, camera, point);
+ }
+
+ options_.linear_solver_ordering = new ParameterBlockOrdering;
+
+ // The points come before the cameras.
+ for (int i = 0; i < num_points_; ++i) {
+ options_.linear_solver_ordering->AddElementToGroup(points + 3 * i, 0);
+ }
+
+ for (int i = 0; i < num_cameras_; ++i) {
+ options_.linear_solver_ordering->AddElementToGroup(cameras + 9 * i, 1);
+ }
+
+ options_.max_num_iterations = 25;
+ options_.function_tolerance = 1e-10;
+ options_.gradient_tolerance = 1e-10;
+ options_.parameter_tolerance = 1e-10;
+ }
+
+ template<typename T>
+ void FscanfOrDie(FILE *fptr, const char *format, T *value) {
+ int num_scanned = fscanf(fptr, format, value);
+ if (num_scanned != 1) {
+ LOG(FATAL) << "Invalid UW data file.";
+ }
+ }
+
+ // Templated pinhole camera model. The camera is parameterized
+ // using 9 parameters. 3 for rotation, 3 for translation, 1 for
+ // focal length and 2 for radial distortion. The principal point is
+ // not modeled (i.e. it is assumed be located at the image center).
+ struct BundlerResidual {
+ // (u, v): the position of the observation with respect to the image
+ // center point.
+ BundlerResidual(double u, double v): u(u), v(v) {}
+
+ template <typename T>
+ bool operator()(const T* const camera,
+ const T* const point,
+ T* residuals) const {
+ T p[3];
+ AngleAxisRotatePoint(camera, point, p);
+
+ // Add the translation vector
+ p[0] += camera[3];
+ p[1] += camera[4];
+ p[2] += camera[5];
+
+ const T& focal = camera[6];
+ const T& l1 = camera[7];
+ const T& l2 = camera[8];
+
+ // Compute the center of distortion. The sign change comes from
+ // the camera model that Noah Snavely's Bundler assumes, whereby
+ // the camera coordinate system has a negative z axis.
+ T xp = - focal * p[0] / p[2];
+ T yp = - focal * p[1] / p[2];
+
+ // Apply second and fourth order radial distortion.
+ T r2 = xp*xp + yp*yp;
+ T distortion = T(1.0) + r2 * (l1 + l2 * r2);
+
+ residuals[0] = distortion * xp - T(u);
+ residuals[1] = distortion * yp - T(v);
+
+ return true;
+ }
+
+ double u;
+ double v;
+ };
+
+
+ Problem problem_;
+ Solver::Options options_;
+
+ int num_cameras_;
+ int num_points_;
+ int num_observations_;
+ int num_parameters_;
+
+ int* point_index_;
+ int* camera_index_;
+ double* observations_;
+ // The parameter vector is laid out as follows
+ // [camera_1, ..., camera_n, point_1, ..., point_m]
+ double* parameters_;
+};
+
+TEST(SystemTest, BundleAdjustmentProblem) {
+ vector<SolverConfig> configs;
+
+#define CONFIGURE(linear_solver, sparse_linear_algebra_library, ordering, preconditioner) \
+ configs.push_back(SolverConfig(linear_solver, \
+ sparse_linear_algebra_library, \
+ ordering, \
+ preconditioner))
+
+#ifndef CERES_NO_SUITESPARSE
+ CONFIGURE(SPARSE_NORMAL_CHOLESKY, SUITE_SPARSE, kAutomaticOrdering, IDENTITY);
+ CONFIGURE(SPARSE_NORMAL_CHOLESKY, SUITE_SPARSE, kUserOrdering, IDENTITY);
+
+ CONFIGURE(SPARSE_SCHUR, SUITE_SPARSE, kAutomaticOrdering, IDENTITY);
+ CONFIGURE(SPARSE_SCHUR, SUITE_SPARSE, kUserOrdering, IDENTITY);
+#endif // CERES_NO_SUITESPARSE
+
+#ifndef CERES_NO_CXSPARSE
+ CONFIGURE(SPARSE_SCHUR, CX_SPARSE, kAutomaticOrdering, IDENTITY);
+ CONFIGURE(SPARSE_SCHUR, CX_SPARSE, kUserOrdering, IDENTITY);
+#endif // CERES_NO_CXSPARSE
+
+ CONFIGURE(DENSE_SCHUR, SUITE_SPARSE, kAutomaticOrdering, IDENTITY);
+ CONFIGURE(DENSE_SCHUR, SUITE_SPARSE, kUserOrdering, IDENTITY);
+
+ CONFIGURE(CGNR, SUITE_SPARSE, kAutomaticOrdering, JACOBI);
+ CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, kUserOrdering, JACOBI);
+
+#ifndef CERES_NO_SUITESPARSE
+ CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, kUserOrdering, SCHUR_JACOBI);
+ CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, kUserOrdering, CLUSTER_JACOBI);
+ CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, kUserOrdering, CLUSTER_TRIDIAGONAL);
+#endif // CERES_NO_SUITESPARSE
+
+ CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, kAutomaticOrdering, JACOBI);
+
+#ifndef CERES_NO_SUITESPARSE
+ CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, kAutomaticOrdering, SCHUR_JACOBI);
+ CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, kAutomaticOrdering, CLUSTER_JACOBI);
+ CONFIGURE(ITERATIVE_SCHUR, SUITE_SPARSE, kAutomaticOrdering, CLUSTER_TRIDIAGONAL);
+#endif // CERES_NO_SUITESPARSE
+
+#undef CONFIGURE
+
+ // Single threaded evaluators and linear solvers.
+ const double kMaxAbsoluteDifference = 1e-4;
+ RunSolversAndCheckTheyMatch<BundleAdjustmentProblem>(configs,
+ kMaxAbsoluteDifference);
+
+#ifdef CERES_USE_OPENMP
+ // Multithreaded evaluators and linear solvers.
+ for (int i = 0; i < configs.size(); ++i) {
+ configs[i].num_threads = 2;
+ }
+ RunSolversAndCheckTheyMatch<BundleAdjustmentProblem>(configs,
+ kMaxAbsoluteDifference);
+#endif // CERES_USE_OPENMP
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/test_util.cc b/internal/ceres/test_util.cc
new file mode 100644
index 0000000..a3f67bd
--- /dev/null
+++ b/internal/ceres/test_util.cc
@@ -0,0 +1,127 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+//
+// Utility functions useful for testing.
+
+#include <cmath>
+#include "ceres/file.h"
+#include "ceres/stringprintf.h"
+#include "gflags/gflags.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+DECLARE_string(test_srcdir);
+
+// This macro is used to inject additional path information specific
+// to the build system.
+
+#ifndef CERES_TEST_SRCDIR_SUFFIX
+#define CERES_TEST_SRCDIR_SUFFIX ""
+#endif
+
+namespace ceres {
+namespace internal {
+
+bool ExpectClose(double x, double y, double max_abs_relative_difference) {
+ double absolute_difference = fabs(x - y);
+ double relative_difference = absolute_difference / std::max(fabs(x), fabs(y));
+ if (x == 0 || y == 0) {
+ // If x or y is exactly zero, then relative difference doesn't have any
+ // meaning. Take the absolute difference instead.
+ relative_difference = absolute_difference;
+ }
+ if (relative_difference > max_abs_relative_difference) {
+ VLOG(1) << StringPrintf("x=%17g y=%17g abs=%17g rel=%17g",
+ x, y, absolute_difference, relative_difference);
+ }
+
+ EXPECT_NEAR(relative_difference, 0.0, max_abs_relative_difference);
+ return relative_difference <= max_abs_relative_difference;
+}
+
+void ExpectArraysCloseUptoScale(int n,
+ const double* p,
+ const double* q,
+ double tol) {
+ CHECK_GT(n, 0);
+ CHECK(p);
+ CHECK(q);
+
+ double p_max = 0;
+ double q_max = 0;
+ int p_i = 0;
+ int q_i = 0;
+
+ for (int i = 0; i < n; ++i) {
+ if (std::abs(p[i]) > p_max) {
+ p_max = std::abs(p[i]);
+ p_i = i;
+ }
+ if (std::abs(q[i]) > q_max) {
+ q_max = std::abs(q[i]);
+ q_i = i;
+ }
+ }
+
+ // If both arrays are all zeros, they are equal up to scale, but
+ // for testing purposes, that's more likely to be an error than
+ // a desired result.
+ CHECK_NE(p_max, 0.0);
+ CHECK_NE(q_max, 0.0);
+
+ for (int i = 0; i < n; ++i) {
+ double p_norm = p[i] / p[p_i];
+ double q_norm = q[i] / q[q_i];
+
+ EXPECT_NEAR(p_norm, q_norm, tol) << "i=" << i;
+ }
+}
+
+void ExpectArraysClose(int n,
+ const double* p,
+ const double* q,
+ double tol) {
+ CHECK_GT(n, 0);
+ CHECK(p);
+ CHECK(q);
+
+ for (int i = 0; i < n; ++i) {
+ EXPECT_NEAR(p[i], q[i], tol) << "i=" << i;
+ }
+}
+
+string TestFileAbsolutePath(const string& filename) {
+ return JoinPath(FLAGS_test_srcdir + CERES_TEST_SRCDIR_SUFFIX,
+ filename);
+}
+
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/test_util.h b/internal/ceres/test_util.h
new file mode 100644
index 0000000..4c530de
--- /dev/null
+++ b/internal/ceres/test_util.h
@@ -0,0 +1,71 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include <string>
+#include "ceres/internal/port.h"
+
+#ifndef CERES_INTERNAL_TEST_UTIL_H_
+#define CERES_INTERNAL_TEST_UTIL_H_
+
+namespace ceres {
+namespace internal {
+
+// Expects that x and y have a relative difference of no more than
+// max_abs_relative_difference. If either x or y is zero, then the relative
+// difference is interpreted as an absolute difference.
+bool ExpectClose(double x, double y, double max_abs_relative_difference);
+
+// Expects that for all i = 1,.., n - 1
+//
+// |p[i] - q[i]| / max(|p[i]|, |q[i]|) < tolerance
+void ExpectArraysClose(int n,
+ const double* p,
+ const double* q,
+ double tolerance);
+
+// Expects that for all i = 1,.., n - 1
+//
+// |p[i] / max_norm_p - q[i] / max_norm_q| < tolerance
+//
+// where max_norm_p and max_norm_q are the max norms of the arrays p
+// and q respectively.
+void ExpectArraysCloseUptoScale(int n,
+ const double* p,
+ const double* q,
+ double tolerance);
+
+// Construct a fully qualified path for the test file depending on the
+// local build/testing environment.
+string TestFileAbsolutePath(const string& filename);
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_TEST_UTIL_H_
diff --git a/internal/ceres/triplet_sparse_matrix.cc b/internal/ceres/triplet_sparse_matrix.cc
new file mode 100644
index 0000000..a09f38e
--- /dev/null
+++ b/internal/ceres/triplet_sparse_matrix.cc
@@ -0,0 +1,307 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/triplet_sparse_matrix.h"
+
+#include <algorithm>
+#include <cstddef>
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/matrix_proto.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+TripletSparseMatrix::TripletSparseMatrix()
+ : num_rows_(0),
+ num_cols_(0),
+ max_num_nonzeros_(0),
+ num_nonzeros_(0),
+ rows_(NULL),
+ cols_(NULL),
+ values_(NULL) {}
+
+TripletSparseMatrix::~TripletSparseMatrix() {}
+
+TripletSparseMatrix::TripletSparseMatrix(int num_rows,
+ int num_cols,
+ int max_num_nonzeros)
+ : num_rows_(num_rows),
+ num_cols_(num_cols),
+ max_num_nonzeros_(max_num_nonzeros),
+ num_nonzeros_(0),
+ rows_(NULL),
+ cols_(NULL),
+ values_(NULL) {
+ // All the sizes should at least be zero
+ CHECK_GE(num_rows, 0);
+ CHECK_GE(num_cols, 0);
+ CHECK_GE(max_num_nonzeros, 0);
+ AllocateMemory();
+}
+
+TripletSparseMatrix::TripletSparseMatrix(const TripletSparseMatrix& orig)
+ : SparseMatrix(),
+ num_rows_(orig.num_rows_),
+ num_cols_(orig.num_cols_),
+ max_num_nonzeros_(orig.max_num_nonzeros_),
+ num_nonzeros_(orig.num_nonzeros_),
+ rows_(NULL),
+ cols_(NULL),
+ values_(NULL) {
+ AllocateMemory();
+ CopyData(orig);
+}
+
+#ifndef CERES_NO_PROTOCOL_BUFFERS
+TripletSparseMatrix::TripletSparseMatrix(const SparseMatrixProto& outer_proto) {
+ CHECK(outer_proto.has_triplet_matrix());
+
+ const TripletSparseMatrixProto& proto = outer_proto.triplet_matrix();
+ CHECK(proto.has_num_rows());
+ CHECK(proto.has_num_cols());
+ CHECK_EQ(proto.rows_size(), proto.cols_size());
+ CHECK_EQ(proto.cols_size(), proto.values_size());
+
+ // Initialize the matrix with the appropriate size and capacity.
+ max_num_nonzeros_ = 0;
+ set_num_nonzeros(0);
+ Reserve(proto.num_nonzeros());
+ Resize(proto.num_rows(), proto.num_cols());
+ set_num_nonzeros(proto.num_nonzeros());
+
+ // Copy the entries in.
+ for (int i = 0; i < proto.num_nonzeros(); ++i) {
+ rows_[i] = proto.rows(i);
+ cols_[i] = proto.cols(i);
+ values_[i] = proto.values(i);
+ }
+}
+#endif
+
+TripletSparseMatrix& TripletSparseMatrix::operator=(
+ const TripletSparseMatrix& rhs) {
+ num_rows_ = rhs.num_rows_;
+ num_cols_ = rhs.num_cols_;
+ num_nonzeros_ = rhs.num_nonzeros_;
+ max_num_nonzeros_ = rhs.max_num_nonzeros_;
+ AllocateMemory();
+ CopyData(rhs);
+ return *this;
+}
+
+bool TripletSparseMatrix::AllTripletsWithinBounds() const {
+ for (int i = 0; i < num_nonzeros_; ++i) {
+ if ((rows_[i] < 0) || (rows_[i] >= num_rows_) ||
+ (cols_[i] < 0) || (cols_[i] >= num_cols_))
+ return false;
+ }
+ return true;
+}
+
+void TripletSparseMatrix::Reserve(int new_max_num_nonzeros) {
+ CHECK_LE(num_nonzeros_, new_max_num_nonzeros)
+ << "Reallocation will cause data loss";
+
+ // Nothing to do if we have enough space already.
+ if (new_max_num_nonzeros <= max_num_nonzeros_)
+ return;
+
+ int* new_rows = new int[new_max_num_nonzeros];
+ int* new_cols = new int[new_max_num_nonzeros];
+ double* new_values = new double[new_max_num_nonzeros];
+
+ for (int i = 0; i < num_nonzeros_; ++i) {
+ new_rows[i] = rows_[i];
+ new_cols[i] = cols_[i];
+ new_values[i] = values_[i];
+ }
+
+ rows_.reset(new_rows);
+ cols_.reset(new_cols);
+ values_.reset(new_values);
+
+ max_num_nonzeros_ = new_max_num_nonzeros;
+}
+
+void TripletSparseMatrix::SetZero() {
+ fill(values_.get(), values_.get() + max_num_nonzeros_, 0.0);
+ num_nonzeros_ = 0;
+}
+
+void TripletSparseMatrix::set_num_nonzeros(int num_nonzeros) {
+ CHECK_GE(num_nonzeros, 0);
+ CHECK_LE(num_nonzeros, max_num_nonzeros_);
+ num_nonzeros_ = num_nonzeros;
+};
+
+void TripletSparseMatrix::AllocateMemory() {
+ rows_.reset(new int[max_num_nonzeros_]);
+ cols_.reset(new int[max_num_nonzeros_]);
+ values_.reset(new double[max_num_nonzeros_]);
+}
+
+void TripletSparseMatrix::CopyData(const TripletSparseMatrix& orig) {
+ for (int i = 0; i < num_nonzeros_; ++i) {
+ rows_[i] = orig.rows_[i];
+ cols_[i] = orig.cols_[i];
+ values_[i] = orig.values_[i];
+ }
+}
+
+void TripletSparseMatrix::RightMultiply(const double* x, double* y) const {
+ for (int i = 0; i < num_nonzeros_; ++i) {
+ y[rows_[i]] += values_[i]*x[cols_[i]];
+ }
+}
+
+void TripletSparseMatrix::LeftMultiply(const double* x, double* y) const {
+ for (int i = 0; i < num_nonzeros_; ++i) {
+ y[cols_[i]] += values_[i]*x[rows_[i]];
+ }
+}
+
+void TripletSparseMatrix::SquaredColumnNorm(double* x) const {
+ CHECK_NOTNULL(x);
+ VectorRef(x, num_cols_).setZero();
+ for (int i = 0; i < num_nonzeros_; ++i) {
+ x[cols_[i]] += values_[i] * values_[i];
+ }
+}
+
+void TripletSparseMatrix::ScaleColumns(const double* scale) {
+ CHECK_NOTNULL(scale);
+ for (int i = 0; i < num_nonzeros_; ++i) {
+ values_[i] = values_[i] * scale[cols_[i]];
+ }
+}
+
+void TripletSparseMatrix::ToDenseMatrix(Matrix* dense_matrix) const {
+ dense_matrix->resize(num_rows_, num_cols_);
+ dense_matrix->setZero();
+ Matrix& m = *dense_matrix;
+ for (int i = 0; i < num_nonzeros_; ++i) {
+ m(rows_[i], cols_[i]) += values_[i];
+ }
+}
+
+#ifndef CERES_NO_PROTOCOL_BUFFERS
+void TripletSparseMatrix::ToProto(SparseMatrixProto *proto) const {
+ proto->Clear();
+
+ TripletSparseMatrixProto* tsm_proto = proto->mutable_triplet_matrix();
+ tsm_proto->set_num_rows(num_rows_);
+ tsm_proto->set_num_cols(num_cols_);
+ tsm_proto->set_num_nonzeros(num_nonzeros_);
+ for (int i = 0; i < num_nonzeros_; ++i) {
+ tsm_proto->add_rows(rows_[i]);
+ tsm_proto->add_cols(cols_[i]);
+ tsm_proto->add_values(values_[i]);
+ }
+}
+#endif
+
+void TripletSparseMatrix::AppendRows(const TripletSparseMatrix& B) {
+ CHECK_EQ(B.num_cols(), num_cols_);
+ Reserve(num_nonzeros_ + B.num_nonzeros_);
+ for (int i = 0; i < B.num_nonzeros_; ++i) {
+ rows_.get()[num_nonzeros_] = B.rows()[i] + num_rows_;
+ cols_.get()[num_nonzeros_] = B.cols()[i];
+ values_.get()[num_nonzeros_++] = B.values()[i];
+ }
+ num_rows_ = num_rows_ + B.num_rows();
+}
+
+void TripletSparseMatrix::AppendCols(const TripletSparseMatrix& B) {
+ CHECK_EQ(B.num_rows(), num_rows_);
+ Reserve(num_nonzeros_ + B.num_nonzeros_);
+ for (int i = 0; i < B.num_nonzeros_; ++i, ++num_nonzeros_) {
+ rows_.get()[num_nonzeros_] = B.rows()[i];
+ cols_.get()[num_nonzeros_] = B.cols()[i] + num_cols_;
+ values_.get()[num_nonzeros_] = B.values()[i];
+ }
+ num_cols_ = num_cols_ + B.num_cols();
+}
+
+
+void TripletSparseMatrix::Resize(int new_num_rows, int new_num_cols) {
+ if ((new_num_rows >= num_rows_) && (new_num_cols >= num_cols_)) {
+ num_rows_ = new_num_rows;
+ num_cols_ = new_num_cols;
+ return;
+ }
+
+ num_rows_ = new_num_rows;
+ num_cols_ = new_num_cols;
+
+ int* r_ptr = rows_.get();
+ int* c_ptr = cols_.get();
+ double* v_ptr = values_.get();
+
+ int dropped_terms = 0;
+ for (int i = 0; i < num_nonzeros_; ++i) {
+ if ((r_ptr[i] < num_rows_) && (c_ptr[i] < num_cols_)) {
+ if (dropped_terms) {
+ r_ptr[i-dropped_terms] = r_ptr[i];
+ c_ptr[i-dropped_terms] = c_ptr[i];
+ v_ptr[i-dropped_terms] = v_ptr[i];
+ }
+ } else {
+ ++dropped_terms;
+ }
+ }
+ num_nonzeros_ -= dropped_terms;
+}
+
+TripletSparseMatrix* TripletSparseMatrix::CreateSparseDiagonalMatrix(
+ const double* values, int num_rows) {
+ TripletSparseMatrix* m =
+ new TripletSparseMatrix(num_rows, num_rows, num_rows);
+ for (int i = 0; i < num_rows; ++i) {
+ m->mutable_rows()[i] = i;
+ m->mutable_cols()[i] = i;
+ m->mutable_values()[i] = values[i];
+ }
+ m->set_num_nonzeros(num_rows);
+ return m;
+}
+
+void TripletSparseMatrix::ToTextFile(FILE* file) const {
+ CHECK_NOTNULL(file);
+ for (int i = 0; i < num_nonzeros_; ++i) {
+ fprintf(file, "% 10d % 10d %17f\n", rows_[i], cols_[i], values_[i]);
+ }
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/triplet_sparse_matrix.h b/internal/ceres/triplet_sparse_matrix.h
new file mode 100644
index 0000000..89a645b
--- /dev/null
+++ b/internal/ceres/triplet_sparse_matrix.h
@@ -0,0 +1,137 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_TRIPLET_SPARSE_MATRIX_H_
+#define CERES_INTERNAL_TRIPLET_SPARSE_MATRIX_H_
+
+#include "ceres/sparse_matrix.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+class SparseMatrixProto;
+
+// An implementation of the SparseMatrix interface to store and
+// manipulate sparse matrices in triplet (i,j,s) form. This object is
+// inspired by the design of the cholmod_triplet struct used in the
+// SuiteSparse package and is memory layout compatible with it.
+class TripletSparseMatrix : public SparseMatrix {
+ public:
+ TripletSparseMatrix();
+ TripletSparseMatrix(int num_rows, int num_cols, int max_num_nonzeros);
+ explicit TripletSparseMatrix(const TripletSparseMatrix& orig);
+#ifndef CERES_NO_PROTOCOL_BUFFERS
+ explicit TripletSparseMatrix(const SparseMatrixProto& proto);
+#endif
+
+ TripletSparseMatrix& operator=(const TripletSparseMatrix& rhs);
+
+ ~TripletSparseMatrix();
+
+ // Implementation of the SparseMatrix interface.
+ virtual void SetZero();
+ virtual void RightMultiply(const double* x, double* y) const;
+ virtual void LeftMultiply(const double* x, double* y) const;
+ virtual void SquaredColumnNorm(double* x) const;
+ virtual void ScaleColumns(const double* scale);
+ virtual void ToDenseMatrix(Matrix* dense_matrix) const;
+#ifndef CERES_NO_PROTOCOL_BUFFERS
+ virtual void ToProto(SparseMatrixProto *proto) const;
+#endif
+ virtual void ToTextFile(FILE* file) const;
+ virtual int num_rows() const { return num_rows_; }
+ virtual int num_cols() const { return num_cols_; }
+ virtual int num_nonzeros() const { return num_nonzeros_; }
+ virtual const double* values() const { return values_.get(); }
+ virtual double* mutable_values() { return values_.get(); }
+ virtual void set_num_nonzeros(int num_nonzeros);
+
+ // Increase max_num_nonzeros and correspondingly increase the size
+ // of rows_, cols_ and values_. If new_max_num_nonzeros is smaller
+ // than max_num_nonzeros_, then num_non_zeros should be less than or
+ // equal to new_max_num_nonzeros, otherwise data loss is possible
+ // and the method crashes.
+ void Reserve(int new_max_num_nonzeros);
+
+ // Append the matrix B at the bottom of this matrix. B should have
+ // the same number of columns as num_cols_.
+ void AppendRows(const TripletSparseMatrix& B);
+
+ // Append the matrix B at the right of this matrix. B should have
+ // the same number of rows as num_rows_;
+ void AppendCols(const TripletSparseMatrix& B);
+
+ // Resize the matrix. Entries which fall outside the new matrix
+ // bounds are dropped and the num_non_zeros changed accordingly.
+ void Resize(int new_num_rows, int new_num_cols);
+
+ int max_num_nonzeros() const { return max_num_nonzeros_; }
+ const int* rows() const { return rows_.get(); }
+ const int* cols() const { return cols_.get(); }
+ int* mutable_rows() { return rows_.get(); }
+ int* mutable_cols() { return cols_.get(); }
+
+ // Returns true if the entries of the matrix obey the row, column,
+ // and column size bounds and false otherwise.
+ bool AllTripletsWithinBounds() const;
+
+ bool IsValid() const { return AllTripletsWithinBounds(); }
+
+ // Build a sparse diagonal matrix of size num_rows x num_rows from
+ // the array values. Entries of the values array are copied into the
+ // sparse matrix.
+ static TripletSparseMatrix* CreateSparseDiagonalMatrix(const double* values,
+ int num_rows);
+
+ private:
+ void AllocateMemory();
+ void CopyData(const TripletSparseMatrix& orig);
+
+ int num_rows_;
+ int num_cols_;
+ int max_num_nonzeros_;
+ int num_nonzeros_;
+
+ // The data is stored as three arrays. For each i, values_[i] is
+ // stored at the location (rows_[i], cols_[i]). If the there are
+ // multiple entries with the same (rows_[i], cols_[i]), the values_
+ // entries corresponding to them are summed up.
+ scoped_array<int> rows_;
+ scoped_array<int> cols_;
+ scoped_array<double> values_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_TRIPLET_SPARSE_MATRIX_H__
diff --git a/internal/ceres/triplet_sparse_matrix_test.cc b/internal/ceres/triplet_sparse_matrix_test.cc
new file mode 100644
index 0000000..d16682e
--- /dev/null
+++ b/internal/ceres/triplet_sparse_matrix_test.cc
@@ -0,0 +1,354 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/triplet_sparse_matrix.h"
+
+#include "gtest/gtest.h"
+#include "ceres/matrix_proto.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+TEST(TripletSparseMatrix, DefaultConstructorReturnsEmptyObject) {
+ TripletSparseMatrix m;
+ EXPECT_EQ(m.num_rows(), 0);
+ EXPECT_EQ(m.num_cols(), 0);
+ EXPECT_EQ(m.num_nonzeros(), 0);
+ EXPECT_EQ(m.max_num_nonzeros(), 0);
+}
+
+TEST(TripletSparseMatrix, SimpleConstructorAndBasicOperations) {
+ // Build a matrix
+ TripletSparseMatrix m(2, 5, 4);
+ EXPECT_EQ(m.num_rows(), 2);
+ EXPECT_EQ(m.num_cols(), 5);
+ EXPECT_EQ(m.num_nonzeros(), 0);
+ EXPECT_EQ(m.max_num_nonzeros(), 4);
+
+ m.mutable_rows()[0] = 0;
+ m.mutable_cols()[0] = 1;
+ m.mutable_values()[0] = 2.5;
+
+ m.mutable_rows()[1] = 1;
+ m.mutable_cols()[1] = 4;
+ m.mutable_values()[1] = 5.2;
+ m.set_num_nonzeros(2);
+
+ EXPECT_EQ(m.num_nonzeros(), 2);
+
+ ASSERT_TRUE(m.AllTripletsWithinBounds());
+
+ // We should never be able resize and lose data
+ EXPECT_DEATH_IF_SUPPORTED(m.Reserve(1), "Reallocation will cause data loss");
+
+ // We should be able to resize while preserving data
+ m.Reserve(50);
+ EXPECT_EQ(m.max_num_nonzeros(), 50);
+
+ m.Reserve(3);
+ EXPECT_EQ(m.max_num_nonzeros(), 50); // The space is already reserved.
+
+ EXPECT_EQ(m.rows()[0], 0);
+ EXPECT_EQ(m.rows()[1], 1);
+
+ EXPECT_EQ(m.cols()[0], 1);
+ EXPECT_EQ(m.cols()[1], 4);
+
+ EXPECT_DOUBLE_EQ(m.values()[0], 2.5);
+ EXPECT_DOUBLE_EQ(m.values()[1], 5.2);
+
+ // Bounds check should fail
+ m.mutable_rows()[0] = 10;
+ EXPECT_FALSE(m.AllTripletsWithinBounds());
+
+ m.mutable_rows()[0] = 1;
+ m.mutable_cols()[0] = 100;
+ EXPECT_FALSE(m.AllTripletsWithinBounds());
+
+ // Remove all data and then resize the data store
+ m.SetZero();
+ EXPECT_EQ(m.num_nonzeros(), 0);
+ m.Reserve(1);
+}
+
+TEST(TripletSparseMatrix, CopyConstructor) {
+ TripletSparseMatrix orig(2, 5, 4);
+ orig.mutable_rows()[0] = 0;
+ orig.mutable_cols()[0] = 1;
+ orig.mutable_values()[0] = 2.5;
+
+ orig.mutable_rows()[1] = 1;
+ orig.mutable_cols()[1] = 4;
+ orig.mutable_values()[1] = 5.2;
+ orig.set_num_nonzeros(2);
+
+ TripletSparseMatrix cpy(orig);
+
+ EXPECT_EQ(cpy.num_rows(), 2);
+ EXPECT_EQ(cpy.num_cols(), 5);
+ ASSERT_EQ(cpy.num_nonzeros(), 2);
+ EXPECT_EQ(cpy.max_num_nonzeros(), 4);
+
+ EXPECT_EQ(cpy.rows()[0], 0);
+ EXPECT_EQ(cpy.rows()[1], 1);
+
+ EXPECT_EQ(cpy.cols()[0], 1);
+ EXPECT_EQ(cpy.cols()[1], 4);
+
+ EXPECT_DOUBLE_EQ(cpy.values()[0], 2.5);
+ EXPECT_DOUBLE_EQ(cpy.values()[1], 5.2);
+}
+
+TEST(TripletSparseMatrix, AssignmentOperator) {
+ TripletSparseMatrix orig(2, 5, 4);
+ orig.mutable_rows()[0] = 0;
+ orig.mutable_cols()[0] = 1;
+ orig.mutable_values()[0] = 2.5;
+
+ orig.mutable_rows()[1] = 1;
+ orig.mutable_cols()[1] = 4;
+ orig.mutable_values()[1] = 5.2;
+ orig.set_num_nonzeros(2);
+
+ TripletSparseMatrix cpy(3, 50, 40);
+ cpy.mutable_rows()[0] = 0;
+ cpy.mutable_cols()[0] = 10;
+ cpy.mutable_values()[0] = 10.22;
+
+ cpy.mutable_rows()[1] = 2;
+ cpy.mutable_cols()[1] = 23;
+ cpy.mutable_values()[1] = 34.45;
+
+ cpy.mutable_rows()[0] = 0;
+ cpy.mutable_cols()[0] = 10;
+ cpy.mutable_values()[0] = 10.22;
+
+ cpy.mutable_rows()[1] = 0;
+ cpy.mutable_cols()[1] = 3;
+ cpy.mutable_values()[1] = 4.4;
+ cpy.set_num_nonzeros(3);
+
+ cpy = orig;
+
+ EXPECT_EQ(cpy.num_rows(), 2);
+ EXPECT_EQ(cpy.num_cols(), 5);
+ ASSERT_EQ(cpy.num_nonzeros(), 2);
+ EXPECT_EQ(cpy.max_num_nonzeros(), 4);
+
+ EXPECT_EQ(cpy.rows()[0], 0);
+ EXPECT_EQ(cpy.rows()[1], 1);
+
+ EXPECT_EQ(cpy.cols()[0], 1);
+ EXPECT_EQ(cpy.cols()[1], 4);
+
+ EXPECT_DOUBLE_EQ(cpy.values()[0], 2.5);
+ EXPECT_DOUBLE_EQ(cpy.values()[1], 5.2);
+}
+
+TEST(TripletSparseMatrix, AppendRows) {
+ // Build one matrix.
+ TripletSparseMatrix m(2, 5, 4);
+ m.mutable_rows()[0] = 0;
+ m.mutable_cols()[0] = 1;
+ m.mutable_values()[0] = 2.5;
+
+ m.mutable_rows()[1] = 1;
+ m.mutable_cols()[1] = 4;
+ m.mutable_values()[1] = 5.2;
+ m.set_num_nonzeros(2);
+
+ // Build another matrix.
+ TripletSparseMatrix a(10, 5, 4);
+ a.mutable_rows()[0] = 0;
+ a.mutable_cols()[0] = 1;
+ a.mutable_values()[0] = 3.5;
+
+ a.mutable_rows()[1] = 1;
+ a.mutable_cols()[1] = 4;
+ a.mutable_values()[1] = 6.2;
+
+ a.mutable_rows()[2] = 9;
+ a.mutable_cols()[2] = 5;
+ a.mutable_values()[2] = 1;
+ a.set_num_nonzeros(3);
+
+ // Glue the second matrix to the bottom of the first.
+ m.AppendRows(a);
+
+ EXPECT_EQ(m.num_rows(), 12);
+ EXPECT_EQ(m.num_cols(), 5);
+ ASSERT_EQ(m.num_nonzeros(), 5);
+
+ EXPECT_EQ(m.values()[0], 2.5);
+ EXPECT_EQ(m.values()[1], 5.2);
+ EXPECT_EQ(m.values()[2], 3.5);
+ EXPECT_EQ(m.values()[3], 6.2);
+ EXPECT_EQ(m.values()[4], 1);
+
+ EXPECT_EQ(m.rows()[0], 0);
+ EXPECT_EQ(m.rows()[1], 1);
+ EXPECT_EQ(m.rows()[2], 2);
+ EXPECT_EQ(m.rows()[3], 3);
+ EXPECT_EQ(m.rows()[4], 11);
+
+ EXPECT_EQ(m.cols()[0], 1);
+ EXPECT_EQ(m.cols()[1], 4);
+ EXPECT_EQ(m.cols()[2], 1);
+ EXPECT_EQ(m.cols()[3], 4);
+ EXPECT_EQ(m.cols()[4], 5);
+}
+
+TEST(TripletSparseMatrix, AppendCols) {
+ // Build one matrix.
+ TripletSparseMatrix m(2, 5, 4);
+ m.mutable_rows()[0] = 0;
+ m.mutable_cols()[0] = 1;
+ m.mutable_values()[0] = 2.5;
+
+ m.mutable_rows()[1] = 1;
+ m.mutable_cols()[1] = 4;
+ m.mutable_values()[1] = 5.2;
+ m.set_num_nonzeros(2);
+
+ // Build another matrix.
+ TripletSparseMatrix a(2, 15, 4);
+ a.mutable_rows()[0] = 0;
+ a.mutable_cols()[0] = 1;
+ a.mutable_values()[0] = 3.5;
+
+ a.mutable_rows()[1] = 1;
+ a.mutable_cols()[1] = 4;
+ a.mutable_values()[1] = 6.2;
+
+ a.mutable_rows()[2] = 0;
+ a.mutable_cols()[2] = 10;
+ a.mutable_values()[2] = 1;
+ a.set_num_nonzeros(3);
+
+ // Glue the second matrix to the left of the first.
+ m.AppendCols(a);
+
+ EXPECT_EQ(m.num_rows(), 2);
+ EXPECT_EQ(m.num_cols(), 20);
+ ASSERT_EQ(m.num_nonzeros(), 5);
+
+ EXPECT_EQ(m.values()[0], 2.5);
+ EXPECT_EQ(m.values()[1], 5.2);
+ EXPECT_EQ(m.values()[2], 3.5);
+ EXPECT_EQ(m.values()[3], 6.2);
+ EXPECT_EQ(m.values()[4], 1);
+
+ EXPECT_EQ(m.rows()[0], 0);
+ EXPECT_EQ(m.rows()[1], 1);
+ EXPECT_EQ(m.rows()[2], 0);
+ EXPECT_EQ(m.rows()[3], 1);
+ EXPECT_EQ(m.rows()[4], 0);
+
+ EXPECT_EQ(m.cols()[0], 1);
+ EXPECT_EQ(m.cols()[1], 4);
+ EXPECT_EQ(m.cols()[2], 6);
+ EXPECT_EQ(m.cols()[3], 9);
+ EXPECT_EQ(m.cols()[4], 15);
+}
+
+TEST(TripletSparseMatrix, CreateDiagonalMatrix) {
+ scoped_array<double> values(new double[10]);
+ for (int i = 0; i < 10; ++i)
+ values[i] = i;
+
+ scoped_ptr<TripletSparseMatrix> m(
+ TripletSparseMatrix::CreateSparseDiagonalMatrix(values.get(), 10));
+ EXPECT_EQ(m->num_rows(), 10);
+ EXPECT_EQ(m->num_cols(), 10);
+ ASSERT_EQ(m->num_nonzeros(), 10);
+ for (int i = 0; i < 10 ; ++i) {
+ EXPECT_EQ(m->rows()[i], i);
+ EXPECT_EQ(m->cols()[i], i);
+ EXPECT_EQ(m->values()[i], i);
+ }
+}
+
+TEST(TripletSparseMatrix, Resize) {
+ TripletSparseMatrix m(10, 20, 200);
+ int nnz = 0;
+ for (int i = 0; i < 10; ++i) {
+ for (int j = 0; j < 20; ++j) {
+ m.mutable_rows()[nnz] = i;
+ m.mutable_cols()[nnz] = j;
+ m.mutable_values()[nnz++] = i+j;
+ }
+ }
+ m.set_num_nonzeros(nnz);
+ m.Resize(5, 6);
+ EXPECT_EQ(m.num_rows(), 5);
+ EXPECT_EQ(m.num_cols(), 6);
+ ASSERT_EQ(m.num_nonzeros(), 30);
+ for (int i = 0; i < 30; ++i) {
+ EXPECT_EQ(m.values()[i], m.rows()[i] + m.cols()[i]);
+ }
+}
+
+#ifndef CERES_NO_PROTOCOL_BUFFERS
+TEST(TripletSparseMatrix, Serialization) {
+ TripletSparseMatrix m(2, 5, 4);
+
+ m.mutable_rows()[0] = 0;
+ m.mutable_cols()[0] = 1;
+ m.mutable_values()[0] = 2.5;
+
+ m.mutable_rows()[1] = 1;
+ m.mutable_cols()[1] = 4;
+ m.mutable_values()[1] = 5.2;
+ m.set_num_nonzeros(2);
+
+ // Roundtrip through serialization and check for equality.
+ SparseMatrixProto proto;
+ m.ToProto(&proto);
+
+ TripletSparseMatrix n(proto);
+
+ ASSERT_EQ(n.num_rows(), 2);
+ ASSERT_EQ(n.num_cols(), 5);
+
+ // Note that max_num_nonzeros gets truncated; the serialization
+ ASSERT_EQ(n.num_nonzeros(), 2);
+ ASSERT_EQ(n.max_num_nonzeros(), 2);
+
+ for (int i = 0; i < m.num_nonzeros(); ++i) {
+ EXPECT_EQ(m.rows()[i], n.rows()[i]);
+ EXPECT_EQ(m.cols()[i], n.cols()[i]);
+ EXPECT_EQ(m.values()[i], n.values()[i]);
+ }
+}
+#endif
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/trust_region_minimizer.cc b/internal/ceres/trust_region_minimizer.cc
new file mode 100644
index 0000000..db2641d
--- /dev/null
+++ b/internal/ceres/trust_region_minimizer.cc
@@ -0,0 +1,557 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/trust_region_minimizer.h"
+
+#include <algorithm>
+#include <cstdlib>
+#include <cmath>
+#include <cstring>
+#include <limits>
+#include <string>
+#include <vector>
+
+#include "Eigen/Core"
+#include "ceres/array_utils.h"
+#include "ceres/evaluator.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/sparse_matrix.h"
+#include "ceres/stringprintf.h"
+#include "ceres/trust_region_strategy.h"
+#include "ceres/types.h"
+#include "ceres/wall_time.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+namespace {
+// Small constant for various floating point issues.
+const double kEpsilon = 1e-12;
+} // namespace
+
+// Execute the list of IterationCallbacks sequentially. If any one of
+// the callbacks does not return SOLVER_CONTINUE, then stop and return
+// its status.
+CallbackReturnType TrustRegionMinimizer::RunCallbacks(
+ const IterationSummary& iteration_summary) {
+ for (int i = 0; i < options_.callbacks.size(); ++i) {
+ const CallbackReturnType status =
+ (*options_.callbacks[i])(iteration_summary);
+ if (status != SOLVER_CONTINUE) {
+ return status;
+ }
+ }
+ return SOLVER_CONTINUE;
+}
+
+// Compute a scaling vector that is used to improve the conditioning
+// of the Jacobian.
+void TrustRegionMinimizer::EstimateScale(const SparseMatrix& jacobian,
+ double* scale) const {
+ jacobian.SquaredColumnNorm(scale);
+ for (int i = 0; i < jacobian.num_cols(); ++i) {
+ scale[i] = 1.0 / (1.0 + sqrt(scale[i]));
+ }
+}
+
+void TrustRegionMinimizer::Init(const Minimizer::Options& options) {
+ options_ = options;
+ sort(options_.lsqp_iterations_to_dump.begin(),
+ options_.lsqp_iterations_to_dump.end());
+}
+
+bool TrustRegionMinimizer::MaybeDumpLinearLeastSquaresProblem(
+ const int iteration,
+ const SparseMatrix* jacobian,
+ const double* residuals,
+ const double* step) const {
+ // TODO(sameeragarwal): Since the use of trust_region_radius has
+ // moved inside TrustRegionStrategy, its not clear how we dump the
+ // regularization vector/matrix anymore.
+ //
+ // Also num_eliminate_blocks is not visible to the trust region
+ // minimizer either.
+ //
+ // Both of these indicate that this is the wrong place for this
+ // code, and going forward this should needs fixing/refactoring.
+ return true;
+}
+
+void TrustRegionMinimizer::Minimize(const Minimizer::Options& options,
+ double* parameters,
+ Solver::Summary* summary) {
+ double start_time = WallTimeInSeconds();
+ double iteration_start_time = start_time;
+ Init(options);
+
+ summary->termination_type = NO_CONVERGENCE;
+ summary->num_successful_steps = 0;
+ summary->num_unsuccessful_steps = 0;
+
+ Evaluator* evaluator = CHECK_NOTNULL(options_.evaluator);
+ SparseMatrix* jacobian = CHECK_NOTNULL(options_.jacobian);
+ TrustRegionStrategy* strategy = CHECK_NOTNULL(options_.trust_region_strategy);
+
+ const int num_parameters = evaluator->NumParameters();
+ const int num_effective_parameters = evaluator->NumEffectiveParameters();
+ const int num_residuals = evaluator->NumResiduals();
+
+ VectorRef x_min(parameters, num_parameters);
+ Vector x = x_min;
+ double x_norm = x.norm();
+
+ Vector residuals(num_residuals);
+ Vector trust_region_step(num_effective_parameters);
+ Vector delta(num_effective_parameters);
+ Vector x_plus_delta(num_parameters);
+ Vector gradient(num_effective_parameters);
+ Vector model_residuals(num_residuals);
+ Vector scale(num_effective_parameters);
+
+ IterationSummary iteration_summary;
+ iteration_summary.iteration = 0;
+ iteration_summary.step_is_valid = false;
+ iteration_summary.step_is_successful = false;
+ iteration_summary.cost_change = 0.0;
+ iteration_summary.gradient_max_norm = 0.0;
+ iteration_summary.step_norm = 0.0;
+ iteration_summary.relative_decrease = 0.0;
+ iteration_summary.trust_region_radius = strategy->Radius();
+ // TODO(sameeragarwal): Rename eta to linear_solver_accuracy or
+ // something similar across the board.
+ iteration_summary.eta = options_.eta;
+ iteration_summary.linear_solver_iterations = 0;
+ iteration_summary.step_solver_time_in_seconds = 0;
+
+ // Do initial cost and Jacobian evaluation.
+ double cost = 0.0;
+ if (!evaluator->Evaluate(x.data(), &cost, residuals.data(), NULL, jacobian)) {
+ LOG(WARNING) << "Terminating: Residual and Jacobian evaluation failed.";
+ summary->termination_type = NUMERICAL_FAILURE;
+ return;
+ }
+
+ iteration_summary.cost = cost + summary->fixed_cost;
+
+ int num_consecutive_nonmonotonic_steps = 0;
+ double minimum_cost = cost;
+ double reference_cost = cost;
+ double accumulated_reference_model_cost_change = 0.0;
+ double candidate_cost = cost;
+ double accumulated_candidate_model_cost_change = 0.0;
+
+ gradient.setZero();
+ jacobian->LeftMultiply(residuals.data(), gradient.data());
+ iteration_summary.gradient_max_norm = gradient.lpNorm<Eigen::Infinity>();
+
+ if (options_.jacobi_scaling) {
+ EstimateScale(*jacobian, scale.data());
+ jacobian->ScaleColumns(scale.data());
+ } else {
+ scale.setOnes();
+ }
+
+ // The initial gradient max_norm is bounded from below so that we do
+ // not divide by zero.
+ const double gradient_max_norm_0 =
+ max(iteration_summary.gradient_max_norm, kEpsilon);
+ const double absolute_gradient_tolerance =
+ options_.gradient_tolerance * gradient_max_norm_0;
+
+ if (iteration_summary.gradient_max_norm <= absolute_gradient_tolerance) {
+ summary->termination_type = GRADIENT_TOLERANCE;
+ VLOG(1) << "Terminating: Gradient tolerance reached."
+ << "Relative gradient max norm: "
+ << iteration_summary.gradient_max_norm / gradient_max_norm_0
+ << " <= " << options_.gradient_tolerance;
+ return;
+ }
+
+ iteration_summary.iteration_time_in_seconds =
+ WallTimeInSeconds() - iteration_start_time;
+ iteration_summary.cumulative_time_in_seconds =
+ WallTimeInSeconds() - start_time
+ + summary->preprocessor_time_in_seconds;
+ summary->iterations.push_back(iteration_summary);
+
+ // Call the various callbacks.
+ switch (RunCallbacks(iteration_summary)) {
+ case SOLVER_TERMINATE_SUCCESSFULLY:
+ summary->termination_type = USER_SUCCESS;
+ VLOG(1) << "Terminating: User callback returned USER_SUCCESS.";
+ return;
+ case SOLVER_ABORT:
+ summary->termination_type = USER_ABORT;
+ VLOG(1) << "Terminating: User callback returned USER_ABORT.";
+ return;
+ case SOLVER_CONTINUE:
+ break;
+ default:
+ LOG(FATAL) << "Unknown type of user callback status";
+ }
+
+ int num_consecutive_invalid_steps = 0;
+ while (true) {
+ iteration_start_time = WallTimeInSeconds();
+ if (iteration_summary.iteration >= options_.max_num_iterations) {
+ summary->termination_type = NO_CONVERGENCE;
+ VLOG(1) << "Terminating: Maximum number of iterations reached.";
+ break;
+ }
+
+ const double total_solver_time = iteration_start_time - start_time +
+ summary->preprocessor_time_in_seconds;
+ if (total_solver_time >= options_.max_solver_time_in_seconds) {
+ summary->termination_type = NO_CONVERGENCE;
+ VLOG(1) << "Terminating: Maximum solver time reached.";
+ break;
+ }
+
+ iteration_summary = IterationSummary();
+ iteration_summary = summary->iterations.back();
+ iteration_summary.iteration = summary->iterations.back().iteration + 1;
+ iteration_summary.step_is_valid = false;
+ iteration_summary.step_is_successful = false;
+
+ const double strategy_start_time = WallTimeInSeconds();
+ TrustRegionStrategy::PerSolveOptions per_solve_options;
+ per_solve_options.eta = options_.eta;
+ TrustRegionStrategy::Summary strategy_summary =
+ strategy->ComputeStep(per_solve_options,
+ jacobian,
+ residuals.data(),
+ trust_region_step.data());
+
+ iteration_summary.step_solver_time_in_seconds =
+ WallTimeInSeconds() - strategy_start_time;
+ iteration_summary.linear_solver_iterations =
+ strategy_summary.num_iterations;
+
+ if (!MaybeDumpLinearLeastSquaresProblem(iteration_summary.iteration,
+ jacobian,
+ residuals.data(),
+ trust_region_step.data())) {
+ LOG(FATAL) << "Tried writing linear least squares problem: "
+ << options.lsqp_dump_directory << "but failed.";
+ }
+
+ double model_cost_change = 0.0;
+ if (strategy_summary.termination_type != FAILURE) {
+ // new_model_cost
+ // = 1/2 [f + J * step]^2
+ // = 1/2 [ f'f + 2f'J * step + step' * J' * J * step ]
+ // model_cost_change
+ // = cost - new_model_cost
+ // = f'f/2 - 1/2 [ f'f + 2f'J * step + step' * J' * J * step]
+ // = -f'J * step - step' * J' * J * step / 2
+ model_residuals.setZero();
+ jacobian->RightMultiply(trust_region_step.data(), model_residuals.data());
+ model_cost_change = -(residuals.dot(model_residuals) +
+ model_residuals.squaredNorm() / 2.0);
+
+ if (model_cost_change < 0.0) {
+ VLOG(1) << "Invalid step: current_cost: " << cost
+ << " absolute difference " << model_cost_change
+ << " relative difference " << (model_cost_change / cost);
+ } else {
+ iteration_summary.step_is_valid = true;
+ }
+ }
+
+ if (!iteration_summary.step_is_valid) {
+ // Invalid steps can happen due to a number of reasons, and we
+ // allow a limited number of successive failures, and return with
+ // NUMERICAL_FAILURE if this limit is exceeded.
+ if (++num_consecutive_invalid_steps >=
+ options_.max_num_consecutive_invalid_steps) {
+ summary->termination_type = NUMERICAL_FAILURE;
+ summary->error = StringPrintf(
+ "Terminating. Number of successive invalid steps more "
+ "than Solver::Options::max_num_consecutive_invalid_steps: %d",
+ options_.max_num_consecutive_invalid_steps);
+
+ LOG(WARNING) << summary->error;
+ return;
+ }
+
+ // We are going to try and reduce the trust region radius and
+ // solve again. To do this, we are going to treat this iteration
+ // as an unsuccessful iteration. Since the various callbacks are
+ // still executed, we are going to fill the iteration summary
+ // with data that assumes a step of length zero and no progress.
+ iteration_summary.cost = cost + summary->fixed_cost;
+ iteration_summary.cost_change = 0.0;
+ iteration_summary.gradient_max_norm =
+ summary->iterations.back().gradient_max_norm;
+ iteration_summary.step_norm = 0.0;
+ iteration_summary.relative_decrease = 0.0;
+ iteration_summary.eta = options_.eta;
+ } else {
+ // The step is numerically valid, so now we can judge its quality.
+ num_consecutive_invalid_steps = 0;
+
+ // Undo the Jacobian column scaling.
+ delta = (trust_region_step.array() * scale.array()).matrix();
+ if (!evaluator->Plus(x.data(), delta.data(), x_plus_delta.data())) {
+ summary->termination_type = NUMERICAL_FAILURE;
+ summary->error =
+ "Terminating. Failed to compute Plus(x, delta, x_plus_delta).";
+
+ LOG(WARNING) << summary->error;
+ return;
+ }
+
+ // Try this step.
+ double new_cost = numeric_limits<double>::max();
+ if (!evaluator->Evaluate(x_plus_delta.data(),
+ &new_cost,
+ NULL, NULL, NULL)) {
+ // If the evaluation of the new cost fails, treat it as a step
+ // with high cost.
+ LOG(WARNING) << "Step failed to evaluate. "
+ << "Treating it as step with infinite cost";
+ new_cost = numeric_limits<double>::max();
+ } else {
+ // Check if performing an inner iteration will make it better.
+ if (options.inner_iteration_minimizer != NULL) {
+ const double x_plus_delta_cost = new_cost;
+ Vector inner_iteration_x = x_plus_delta;
+ Solver::Summary inner_iteration_summary;
+ options.inner_iteration_minimizer->Minimize(options,
+ inner_iteration_x.data(),
+ &inner_iteration_summary);
+ if(!evaluator->Evaluate(inner_iteration_x.data(),
+ &new_cost,
+ NULL, NULL, NULL)) {
+ VLOG(2) << "Inner iteration failed.";
+ new_cost = x_plus_delta_cost;
+ } else {
+ x_plus_delta = inner_iteration_x;
+ // Bost the model_cost_change, since the inner iteration
+ // improvements are not accounted for by the trust region.
+ model_cost_change += x_plus_delta_cost - new_cost;
+ VLOG(2) << "Inner iteration succeeded; current cost: " << cost
+ << " x_plus_delta_cost: " << x_plus_delta_cost
+ << " new_cost: " << new_cost;
+ }
+ }
+ }
+
+ iteration_summary.step_norm = (x - x_plus_delta).norm();
+
+ // Convergence based on parameter_tolerance.
+ const double step_size_tolerance = options_.parameter_tolerance *
+ (x_norm + options_.parameter_tolerance);
+ if (iteration_summary.step_norm <= step_size_tolerance) {
+ VLOG(1) << "Terminating. Parameter tolerance reached. "
+ << "relative step_norm: "
+ << iteration_summary.step_norm /
+ (x_norm + options_.parameter_tolerance)
+ << " <= " << options_.parameter_tolerance;
+ summary->termination_type = PARAMETER_TOLERANCE;
+ return;
+ }
+
+ VLOG(2) << "old cost: " << cost << " new cost: " << new_cost;
+ iteration_summary.cost_change = cost - new_cost;
+ const double absolute_function_tolerance =
+ options_.function_tolerance * cost;
+ if (fabs(iteration_summary.cost_change) < absolute_function_tolerance) {
+ VLOG(1) << "Terminating. Function tolerance reached. "
+ << "|cost_change|/cost: "
+ << fabs(iteration_summary.cost_change) / cost
+ << " <= " << options_.function_tolerance;
+ summary->termination_type = FUNCTION_TOLERANCE;
+ return;
+ }
+
+ const double relative_decrease =
+ iteration_summary.cost_change / model_cost_change;
+
+ const double historical_relative_decrease =
+ (reference_cost - new_cost) /
+ (accumulated_reference_model_cost_change + model_cost_change);
+
+ // If monotonic steps are being used, then the relative_decrease
+ // is the usual ratio of the change in objective function value
+ // divided by the change in model cost.
+ //
+ // If non-monotonic steps are allowed, then we take the maximum
+ // of the relative_decrease and the
+ // historical_relative_decrease, which measures the increase
+ // from a reference iteration. The model cost change is
+ // estimated by accumulating the model cost changes since the
+ // reference iteration. The historical relative_decrease offers
+ // a boost to a step which is not too bad compared to the
+ // reference iteration, allowing for non-monotonic steps.
+ iteration_summary.relative_decrease =
+ options.use_nonmonotonic_steps
+ ? max(relative_decrease, historical_relative_decrease)
+ : relative_decrease;
+
+ iteration_summary.step_is_successful =
+ iteration_summary.relative_decrease > options_.min_relative_decrease;
+
+ if (iteration_summary.step_is_successful) {
+ accumulated_candidate_model_cost_change += model_cost_change;
+ accumulated_reference_model_cost_change += model_cost_change;
+ if (relative_decrease <= options_.min_relative_decrease) {
+ iteration_summary.step_is_nonmonotonic = true;
+ VLOG(2) << "Non-monotonic step! "
+ << " relative_decrease: " << relative_decrease
+ << " historical_relative_decrease: "
+ << historical_relative_decrease;
+ }
+ }
+ }
+
+ if (iteration_summary.step_is_successful) {
+ ++summary->num_successful_steps;
+ strategy->StepAccepted(iteration_summary.relative_decrease);
+ x = x_plus_delta;
+ x_norm = x.norm();
+
+ // Step looks good, evaluate the residuals and Jacobian at this
+ // point.
+ if (!evaluator->Evaluate(x.data(),
+ &cost,
+ residuals.data(),
+ NULL,
+ jacobian)) {
+ summary->termination_type = NUMERICAL_FAILURE;
+ summary->error = "Terminating: Residual and Jacobian evaluation failed.";
+ LOG(WARNING) << summary->error;
+ return;
+ }
+
+ gradient.setZero();
+ jacobian->LeftMultiply(residuals.data(), gradient.data());
+ iteration_summary.gradient_max_norm = gradient.lpNorm<Eigen::Infinity>();
+
+ if (iteration_summary.gradient_max_norm <= absolute_gradient_tolerance) {
+ summary->termination_type = GRADIENT_TOLERANCE;
+ VLOG(1) << "Terminating: Gradient tolerance reached."
+ << "Relative gradient max norm: "
+ << iteration_summary.gradient_max_norm / gradient_max_norm_0
+ << " <= " << options_.gradient_tolerance;
+ return;
+ }
+
+ if (options_.jacobi_scaling) {
+ jacobian->ScaleColumns(scale.data());
+ }
+
+ // Update the best, reference and candidate iterates.
+ //
+ // Based on algorithm 10.1.2 (page 357) of "Trust Region
+ // Methods" by Conn Gould & Toint, or equations 33-40 of
+ // "Non-monotone trust-region algorithms for nonlinear
+ // optimization subject to convex constraints" by Phil Toint,
+ // Mathematical Programming, 77, 1997.
+ if (cost < minimum_cost) {
+ // A step that improves solution quality was found.
+ x_min = x;
+ minimum_cost = cost;
+ // Set the candidate iterate to the current point.
+ candidate_cost = cost;
+ num_consecutive_nonmonotonic_steps = 0;
+ accumulated_candidate_model_cost_change = 0.0;
+ } else {
+ ++num_consecutive_nonmonotonic_steps;
+ if (cost > candidate_cost) {
+ // The current iterate is has a higher cost than the
+ // candidate iterate. Set the candidate to this point.
+ VLOG(2) << "Updating the candidate iterate to the current point.";
+ candidate_cost = cost;
+ accumulated_candidate_model_cost_change = 0.0;
+ }
+
+ // At this point we have made too many non-monotonic steps and
+ // we are going to reset the value of the reference iterate so
+ // as to force the algorithm to descend.
+ //
+ // This is the case because the candidate iterate has a value
+ // greater than minimum_cost but smaller than the reference
+ // iterate.
+ if (num_consecutive_nonmonotonic_steps ==
+ options.max_consecutive_nonmonotonic_steps) {
+ VLOG(2) << "Resetting the reference point to the candidate point";
+ reference_cost = candidate_cost;
+ accumulated_reference_model_cost_change =
+ accumulated_candidate_model_cost_change;
+ }
+ }
+ } else {
+ ++summary->num_unsuccessful_steps;
+ if (iteration_summary.step_is_valid) {
+ strategy->StepRejected(iteration_summary.relative_decrease);
+ } else {
+ strategy->StepIsInvalid();
+ }
+ }
+
+ iteration_summary.cost = cost + summary->fixed_cost;
+ iteration_summary.trust_region_radius = strategy->Radius();
+ if (iteration_summary.trust_region_radius <
+ options_.min_trust_region_radius) {
+ summary->termination_type = PARAMETER_TOLERANCE;
+ VLOG(1) << "Termination. Minimum trust region radius reached.";
+ return;
+ }
+
+ iteration_summary.iteration_time_in_seconds =
+ WallTimeInSeconds() - iteration_start_time;
+ iteration_summary.cumulative_time_in_seconds =
+ WallTimeInSeconds() - start_time
+ + summary->preprocessor_time_in_seconds;
+ summary->iterations.push_back(iteration_summary);
+
+ switch (RunCallbacks(iteration_summary)) {
+ case SOLVER_TERMINATE_SUCCESSFULLY:
+ summary->termination_type = USER_SUCCESS;
+ VLOG(1) << "Terminating: User callback returned USER_SUCCESS.";
+ return;
+ case SOLVER_ABORT:
+ summary->termination_type = USER_ABORT;
+ VLOG(1) << "Terminating: User callback returned USER_ABORT.";
+ return;
+ case SOLVER_CONTINUE:
+ break;
+ default:
+ LOG(FATAL) << "Unknown type of user callback status";
+ }
+ }
+}
+
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/trust_region_minimizer.h b/internal/ceres/trust_region_minimizer.h
new file mode 100644
index 0000000..a4f5ba3
--- /dev/null
+++ b/internal/ceres/trust_region_minimizer.h
@@ -0,0 +1,67 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_TRUST_REGION_MINIMIZER_H_
+#define CERES_INTERNAL_TRUST_REGION_MINIMIZER_H_
+
+#include "ceres/minimizer.h"
+#include "ceres/solver.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+// Generic trust region minimization algorithm. The heavy lifting is
+// done by a TrustRegionStrategy object passed in as one of the
+// arguments to the Minimize method.
+//
+// For example usage, see SolverImpl::Minimize.
+class TrustRegionMinimizer : public Minimizer {
+ public:
+ ~TrustRegionMinimizer() {}
+ virtual void Minimize(const Minimizer::Options& options,
+ double* parameters,
+ Solver::Summary* summary);
+
+ private:
+ void Init(const Minimizer::Options& options);
+ void EstimateScale(const SparseMatrix& jacobian, double* scale) const;
+ CallbackReturnType RunCallbacks(const IterationSummary& iteration_summary);
+ bool MaybeDumpLinearLeastSquaresProblem( const int iteration,
+ const SparseMatrix* jacobian,
+ const double* residuals,
+ const double* step) const;
+
+ Minimizer::Options options_;
+};
+
+} // namespace internal
+} // namespace ceres
+#endif // CERES_INTERNAL_TRUST_REGION_MINIMIZER_H_
diff --git a/internal/ceres/trust_region_minimizer_test.cc b/internal/ceres/trust_region_minimizer_test.cc
new file mode 100644
index 0000000..a82dea7
--- /dev/null
+++ b/internal/ceres/trust_region_minimizer_test.cc
@@ -0,0 +1,376 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+// sameeragarwal@google.com (Sameer Agarwal)
+//
+// This tests the TrustRegionMinimizer loop using a direct Evaluator
+// implementation, rather than having a test that goes through all the
+// Program and Problem machinery.
+
+#include <cmath>
+#include "ceres/cost_function.h"
+#include "ceres/dense_qr_solver.h"
+#include "ceres/dense_sparse_matrix.h"
+#include "ceres/evaluator.h"
+#include "ceres/internal/port.h"
+#include "ceres/linear_solver.h"
+#include "ceres/minimizer.h"
+#include "ceres/problem.h"
+#include "ceres/trust_region_minimizer.h"
+#include "ceres/trust_region_strategy.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+// Templated Evaluator for Powell's function. The template parameters
+// indicate which of the four variables/columns of the jacobian are
+// active. This is equivalent to constructing a problem and using the
+// SubsetLocalParameterization. This allows us to test the support for
+// the Evaluator::Plus operation besides checking for the basic
+// performance of the trust region algorithm.
+template <bool col1, bool col2, bool col3, bool col4>
+class PowellEvaluator2 : public Evaluator {
+ public:
+ PowellEvaluator2()
+ : num_active_cols_(
+ (col1 ? 1 : 0) +
+ (col2 ? 1 : 0) +
+ (col3 ? 1 : 0) +
+ (col4 ? 1 : 0)) {
+ VLOG(1) << "Columns: "
+ << col1 << " "
+ << col2 << " "
+ << col3 << " "
+ << col4;
+ }
+
+ virtual ~PowellEvaluator2() {}
+
+ // Implementation of Evaluator interface.
+ virtual SparseMatrix* CreateJacobian() const {
+ CHECK(col1 || col2 || col3 || col4);
+ DenseSparseMatrix* dense_jacobian =
+ new DenseSparseMatrix(NumResiduals(), NumEffectiveParameters());
+ dense_jacobian->SetZero();
+ return dense_jacobian;
+ }
+
+ virtual bool Evaluate(const double* state,
+ double* cost,
+ double* residuals,
+ double* /* gradient */,
+ SparseMatrix* jacobian) {
+ double x1 = state[0];
+ double x2 = state[1];
+ double x3 = state[2];
+ double x4 = state[3];
+
+ VLOG(1) << "State: "
+ << "x1=" << x1 << ", "
+ << "x2=" << x2 << ", "
+ << "x3=" << x3 << ", "
+ << "x4=" << x4 << ".";
+
+ double f1 = x1 + 10.0 * x2;
+ double f2 = sqrt(5.0) * (x3 - x4);
+ double f3 = pow(x2 - 2.0 * x3, 2.0);
+ double f4 = sqrt(10.0) * pow(x1 - x4, 2.0);
+
+ VLOG(1) << "Function: "
+ << "f1=" << f1 << ", "
+ << "f2=" << f2 << ", "
+ << "f3=" << f3 << ", "
+ << "f4=" << f4 << ".";
+
+ *cost = (f1*f1 + f2*f2 + f3*f3 + f4*f4) / 2.0;
+
+ VLOG(1) << "Cost: " << *cost;
+
+ if (residuals != NULL) {
+ residuals[0] = f1;
+ residuals[1] = f2;
+ residuals[2] = f3;
+ residuals[3] = f4;
+ }
+
+ if (jacobian != NULL) {
+ DenseSparseMatrix* dense_jacobian;
+ dense_jacobian = down_cast<DenseSparseMatrix*>(jacobian);
+ dense_jacobian->SetZero();
+
+ AlignedMatrixRef jacobian_matrix = dense_jacobian->mutable_matrix();
+ CHECK_EQ(jacobian_matrix.cols(), num_active_cols_);
+
+ int column_index = 0;
+ if (col1) {
+ jacobian_matrix.col(column_index++) <<
+ 1.0,
+ 0.0,
+ 0.0,
+ sqrt(10.0) * 2.0 * (x1 - x4) * (1.0 - x4);
+ }
+ if (col2) {
+ jacobian_matrix.col(column_index++) <<
+ 10.0,
+ 0.0,
+ 2.0*(x2 - 2.0*x3)*(1.0 - 2.0*x3),
+ 0.0;
+ }
+
+ if (col3) {
+ jacobian_matrix.col(column_index++) <<
+ 0.0,
+ sqrt(5.0),
+ 2.0*(x2 - 2.0*x3)*(x2 - 2.0),
+ 0.0;
+ }
+
+ if (col4) {
+ jacobian_matrix.col(column_index++) <<
+ 0.0,
+ -sqrt(5.0),
+ 0.0,
+ sqrt(10.0) * 2.0 * (x1 - x4) * (x1 - 1.0);
+ }
+ VLOG(1) << "\n" << jacobian_matrix;
+ }
+ return true;
+ }
+
+ virtual bool Plus(const double* state,
+ const double* delta,
+ double* state_plus_delta) const {
+ int delta_index = 0;
+ state_plus_delta[0] = (col1 ? state[0] + delta[delta_index++] : state[0]);
+ state_plus_delta[1] = (col2 ? state[1] + delta[delta_index++] : state[1]);
+ state_plus_delta[2] = (col3 ? state[2] + delta[delta_index++] : state[2]);
+ state_plus_delta[3] = (col4 ? state[3] + delta[delta_index++] : state[3]);
+ return true;
+ }
+
+ virtual int NumEffectiveParameters() const { return num_active_cols_; }
+ virtual int NumParameters() const { return 4; }
+ virtual int NumResiduals() const { return 4; }
+
+ private:
+ const int num_active_cols_;
+};
+
+// Templated function to hold a subset of the columns fixed and check
+// if the solver converges to the optimal values or not.
+template<bool col1, bool col2, bool col3, bool col4>
+void IsTrustRegionSolveSuccessful(TrustRegionStrategyType strategy_type) {
+ Solver::Options solver_options;
+ LinearSolver::Options linear_solver_options;
+ DenseQRSolver linear_solver(linear_solver_options);
+
+ double parameters[4] = { 3, -1, 0, 1.0 };
+
+ // If the column is inactive, then set its value to the optimal
+ // value.
+ parameters[0] = (col1 ? parameters[0] : 0.0);
+ parameters[1] = (col2 ? parameters[1] : 0.0);
+ parameters[2] = (col3 ? parameters[2] : 0.0);
+ parameters[3] = (col4 ? parameters[3] : 0.0);
+
+ PowellEvaluator2<col1, col2, col3, col4> powell_evaluator;
+ scoped_ptr<SparseMatrix> jacobian(powell_evaluator.CreateJacobian());
+
+ Minimizer::Options minimizer_options(solver_options);
+ minimizer_options.gradient_tolerance = 1e-26;
+ minimizer_options.function_tolerance = 1e-26;
+ minimizer_options.parameter_tolerance = 1e-26;
+ minimizer_options.evaluator = &powell_evaluator;
+ minimizer_options.jacobian = jacobian.get();
+
+ TrustRegionStrategy::Options trust_region_strategy_options;
+ trust_region_strategy_options.trust_region_strategy_type = strategy_type;
+ trust_region_strategy_options.linear_solver = &linear_solver;
+ trust_region_strategy_options.initial_radius = 1e4;
+ trust_region_strategy_options.max_radius = 1e20;
+ trust_region_strategy_options.lm_min_diagonal = 1e-6;
+ trust_region_strategy_options.lm_max_diagonal = 1e32;
+ scoped_ptr<TrustRegionStrategy> strategy(
+ TrustRegionStrategy::Create(trust_region_strategy_options));
+ minimizer_options.trust_region_strategy = strategy.get();
+
+ TrustRegionMinimizer minimizer;
+ Solver::Summary summary;
+ minimizer.Minimize(minimizer_options, parameters, &summary);
+
+ // The minimum is at x1 = x2 = x3 = x4 = 0.
+ EXPECT_NEAR(0.0, parameters[0], 0.001);
+ EXPECT_NEAR(0.0, parameters[1], 0.001);
+ EXPECT_NEAR(0.0, parameters[2], 0.001);
+ EXPECT_NEAR(0.0, parameters[3], 0.001);
+};
+
+TEST(TrustRegionMinimizer, PowellsSingularFunctionUsingLevenbergMarquardt) {
+ // This case is excluded because this has a local minimum and does
+ // not find the optimum. This should not affect the correctness of
+ // this test since we are testing all the other 14 combinations of
+ // column activations.
+ //
+ // IsSolveSuccessful<true, true, false, true>();
+
+ const TrustRegionStrategyType kStrategy = LEVENBERG_MARQUARDT;
+ IsTrustRegionSolveSuccessful<true, true, true, true >(kStrategy);
+ IsTrustRegionSolveSuccessful<true, true, true, false>(kStrategy);
+ IsTrustRegionSolveSuccessful<true, false, true, true >(kStrategy);
+ IsTrustRegionSolveSuccessful<false, true, true, true >(kStrategy);
+ IsTrustRegionSolveSuccessful<true, true, false, false>(kStrategy);
+ IsTrustRegionSolveSuccessful<true, false, true, false>(kStrategy);
+ IsTrustRegionSolveSuccessful<false, true, true, false>(kStrategy);
+ IsTrustRegionSolveSuccessful<true, false, false, true >(kStrategy);
+ IsTrustRegionSolveSuccessful<false, true, false, true >(kStrategy);
+ IsTrustRegionSolveSuccessful<false, false, true, true >(kStrategy);
+ IsTrustRegionSolveSuccessful<true, false, false, false>(kStrategy);
+ IsTrustRegionSolveSuccessful<false, true, false, false>(kStrategy);
+ IsTrustRegionSolveSuccessful<false, false, true, false>(kStrategy);
+ IsTrustRegionSolveSuccessful<false, false, false, true >(kStrategy);
+}
+
+TEST(TrustRegionMinimizer, PowellsSingularFunctionUsingDogleg) {
+ // The following two cases are excluded because they encounter a local minimum.
+ //
+ // IsTrustRegionSolveSuccessful<true, true, false, true >(kStrategy);
+ // IsTrustRegionSolveSuccessful<true, true, true, true >(kStrategy);
+
+ const TrustRegionStrategyType kStrategy = DOGLEG;
+ IsTrustRegionSolveSuccessful<true, true, true, false>(kStrategy);
+ IsTrustRegionSolveSuccessful<true, false, true, true >(kStrategy);
+ IsTrustRegionSolveSuccessful<false, true, true, true >(kStrategy);
+ IsTrustRegionSolveSuccessful<true, true, false, false>(kStrategy);
+ IsTrustRegionSolveSuccessful<true, false, true, false>(kStrategy);
+ IsTrustRegionSolveSuccessful<false, true, true, false>(kStrategy);
+ IsTrustRegionSolveSuccessful<true, false, false, true >(kStrategy);
+ IsTrustRegionSolveSuccessful<false, true, false, true >(kStrategy);
+ IsTrustRegionSolveSuccessful<false, false, true, true >(kStrategy);
+ IsTrustRegionSolveSuccessful<true, false, false, false>(kStrategy);
+ IsTrustRegionSolveSuccessful<false, true, false, false>(kStrategy);
+ IsTrustRegionSolveSuccessful<false, false, true, false>(kStrategy);
+ IsTrustRegionSolveSuccessful<false, false, false, true >(kStrategy);
+}
+
+
+class CurveCostFunction : public CostFunction {
+ public:
+ CurveCostFunction(int num_vertices, double target_length)
+ : num_vertices_(num_vertices), target_length_(target_length) {
+ set_num_residuals(1);
+ for (int i = 0; i < num_vertices_; ++i) {
+ mutable_parameter_block_sizes()->push_back(2);
+ }
+ }
+
+ bool Evaluate(double const* const* parameters,
+ double* residuals,
+ double** jacobians) const {
+ residuals[0] = target_length_;
+
+ for (int i = 0; i < num_vertices_; ++i) {
+ int prev = (num_vertices_ + i - 1) % num_vertices_;
+ double length = 0.0;
+ for (int dim = 0; dim < 2; dim++) {
+ const double diff = parameters[prev][dim] - parameters[i][dim];
+ length += diff * diff;
+ }
+ residuals[0] -= sqrt(length);
+ }
+
+ if (jacobians == NULL) {
+ return true;
+ }
+
+ for (int i = 0; i < num_vertices_; ++i) {
+ if (jacobians[i] != NULL) {
+ int prev = (num_vertices_ + i - 1) % num_vertices_;
+ int next = (i + 1) % num_vertices_;
+
+ double u[2], v[2];
+ double norm_u = 0., norm_v = 0.;
+ for (int dim = 0; dim < 2; dim++) {
+ u[dim] = parameters[i][dim] - parameters[prev][dim];
+ norm_u += u[dim] * u[dim];
+ v[dim] = parameters[next][dim] - parameters[i][dim];
+ norm_v += v[dim] * v[dim];
+ }
+
+ norm_u = sqrt(norm_u);
+ norm_v = sqrt(norm_v);
+
+ for (int dim = 0; dim < 2; dim++) {
+ jacobians[i][dim] = 0.;
+
+ if (norm_u > std::numeric_limits< double >::min()) {
+ jacobians[i][dim] -= u[dim] / norm_u;
+ }
+
+ if (norm_v > std::numeric_limits< double >::min()) {
+ jacobians[i][dim] += v[dim] / norm_v;
+ }
+ }
+ }
+ }
+
+ return true;
+ }
+
+ private:
+ int num_vertices_;
+ double target_length_;
+};
+
+TEST(TrustRegionMinimizer, JacobiScalingTest) {
+ int N = 6;
+ std::vector< double* > y(N);
+ const double pi = 3.1415926535897932384626433;
+ for (int i = 0; i < N; i++) {
+ double theta = i * 2. * pi/ static_cast< double >(N);
+ y[i] = new double[2];
+ y[i][0] = cos(theta);
+ y[i][1] = sin(theta);
+ }
+
+ Problem problem;
+ problem.AddResidualBlock(new CurveCostFunction(N, 10.), NULL, y);
+ Solver::Options options;
+ options.linear_solver_type = ceres::DENSE_QR;
+ Solver::Summary summary;
+ Solve(options, &problem, &summary);
+ EXPECT_LE(summary.final_cost, 1e-10);
+
+ for (int i = 0; i < N; i++) {
+ delete y[i];
+ }
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/trust_region_strategy.cc b/internal/ceres/trust_region_strategy.cc
new file mode 100644
index 0000000..89bc19d
--- /dev/null
+++ b/internal/ceres/trust_region_strategy.cc
@@ -0,0 +1,27 @@
+#include "ceres/trust_region_strategy.h"
+#include "ceres/dogleg_strategy.h"
+#include "ceres/levenberg_marquardt_strategy.h"
+
+namespace ceres {
+namespace internal {
+
+TrustRegionStrategy::~TrustRegionStrategy() {}
+
+TrustRegionStrategy* TrustRegionStrategy::Create(const Options& options) {
+ switch (options.trust_region_strategy_type) {
+ case LEVENBERG_MARQUARDT:
+ return new LevenbergMarquardtStrategy(options);
+ case DOGLEG:
+ return new DoglegStrategy(options);
+ default:
+ LOG(FATAL) << "Unknown trust region strategy: "
+ << options.trust_region_strategy_type;
+ }
+
+ LOG(FATAL) << "Unknown trust region strategy: "
+ << options.trust_region_strategy_type;
+ return NULL;
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/trust_region_strategy.h b/internal/ceres/trust_region_strategy.h
new file mode 100644
index 0000000..391da97
--- /dev/null
+++ b/internal/ceres/trust_region_strategy.h
@@ -0,0 +1,148 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_INTERNAL_TRUST_REGION_STRATEGY_H_
+#define CERES_INTERNAL_TRUST_REGION_STRATEGY_H_
+
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+class LinearSolver;
+class SparseMatrix;
+
+// Interface for classes implementing various trust region strategies
+// for nonlinear least squares problems.
+//
+// The object is expected to maintain and update a trust region
+// radius, which it then uses to solve for the trust region step using
+// the jacobian matrix and residual vector.
+//
+// Here the term trust region radius is used loosely, as the strategy
+// is free to treat it as guidance and violate it as need be. e.g.,
+// the LevenbergMarquardtStrategy uses the inverse of the trust region
+// radius to scale the damping term, which controls the step size, but
+// does not set a hard limit on its size.
+class TrustRegionStrategy {
+public:
+ struct Options {
+ Options()
+ : trust_region_strategy_type(LEVENBERG_MARQUARDT),
+ initial_radius(1e4),
+ max_radius(1e32),
+ lm_min_diagonal(1e-6),
+ lm_max_diagonal(1e32),
+ dogleg_type(TRADITIONAL_DOGLEG) {
+ }
+
+ TrustRegionStrategyType trust_region_strategy_type;
+ // Linear solver used for actually solving the trust region step.
+ LinearSolver* linear_solver;
+ double initial_radius;
+ double max_radius;
+
+ // Minimum and maximum values of the diagonal damping matrix used
+ // by LevenbergMarquardtStrategy. The DoglegStrategy also uses
+ // these bounds to construct a regularizing diagonal to ensure
+ // that the Gauss-Newton step computation is of full rank.
+ double lm_min_diagonal;
+ double lm_max_diagonal;
+
+ // Further specify which dogleg method to use
+ DoglegType dogleg_type;
+ };
+
+ // Per solve options.
+ struct PerSolveOptions {
+ // Forcing sequence for inexact solves.
+ double eta;
+ };
+
+ struct Summary {
+ Summary()
+ : residual_norm(0.0),
+ num_iterations(-1),
+ termination_type(FAILURE) {
+ }
+
+ // If the trust region problem is,
+ //
+ // 1/2 x'Ax + b'x + c,
+ //
+ // then
+ //
+ // residual_norm = |Ax -b|
+ double residual_norm;
+
+ // Number of iterations used by the linear solver. If a linear
+ // solver was not called (e.g., DogLegStrategy after an
+ // unsuccessful step), then this would be zero.
+ int num_iterations;
+
+ // Status of the linear solver used to solve the Newton system.
+ LinearSolverTerminationType termination_type;
+ };
+
+ virtual ~TrustRegionStrategy();
+
+ // Use the current radius to solve for the trust region step.
+ virtual Summary ComputeStep(const PerSolveOptions& per_solve_options,
+ SparseMatrix* jacobian,
+ const double* residuals,
+ double* step) = 0;
+
+ // Inform the strategy that the current step has been accepted, and
+ // that the ratio of the decrease in the non-linear objective to the
+ // decrease in the trust region model is step_quality.
+ virtual void StepAccepted(double step_quality) = 0;
+
+ // Inform the strategy that the current step has been rejected, and
+ // that the ratio of the decrease in the non-linear objective to the
+ // decrease in the trust region model is step_quality.
+ virtual void StepRejected(double step_quality) = 0;
+
+ // Inform the strategy that the current step has been rejected
+ // because it was found to be numerically invalid.
+ // StepRejected/StepAccepted will not be called for this step, and
+ // the strategy is free to do what it wants with this information.
+ virtual void StepIsInvalid() = 0;
+
+ // Current trust region radius.
+ virtual double Radius() const = 0;
+
+ // Factory.
+ static TrustRegionStrategy* Create(const Options& options);
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_TRUST_REGION_STRATEGY_H_
diff --git a/internal/ceres/types.cc b/internal/ceres/types.cc
new file mode 100644
index 0000000..fc33a4c
--- /dev/null
+++ b/internal/ceres/types.cc
@@ -0,0 +1,209 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include <algorithm>
+#include <cctype>
+#include <string>
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+#define CASESTR(x) case x: return #x
+
+#define STRENUM(x) if (value == #x) { *type = x; return true;}
+
+void UpperCase(string* input) {
+ std::transform(input->begin(), input->end(), input->begin(), ::toupper);
+}
+
+const char* LinearSolverTypeToString(LinearSolverType solver_type) {
+ switch (solver_type) {
+ CASESTR(DENSE_NORMAL_CHOLESKY);
+ CASESTR(DENSE_QR);
+ CASESTR(SPARSE_NORMAL_CHOLESKY);
+ CASESTR(DENSE_SCHUR);
+ CASESTR(SPARSE_SCHUR);
+ CASESTR(ITERATIVE_SCHUR);
+ CASESTR(CGNR);
+ default:
+ return "UNKNOWN";
+ }
+}
+
+bool StringToLinearSolverType(string value, LinearSolverType* type) {
+ UpperCase(&value);
+ STRENUM(DENSE_NORMAL_CHOLESKY);
+ STRENUM(DENSE_QR);
+ STRENUM(SPARSE_NORMAL_CHOLESKY);
+ STRENUM(DENSE_SCHUR);
+ STRENUM(SPARSE_SCHUR);
+ STRENUM(ITERATIVE_SCHUR);
+ STRENUM(CGNR);
+ return false;
+}
+
+const char* PreconditionerTypeToString(
+ PreconditionerType preconditioner_type) {
+ switch (preconditioner_type) {
+ CASESTR(IDENTITY);
+ CASESTR(JACOBI);
+ CASESTR(SCHUR_JACOBI);
+ CASESTR(CLUSTER_JACOBI);
+ CASESTR(CLUSTER_TRIDIAGONAL);
+ default:
+ return "UNKNOWN";
+ }
+}
+
+bool StringToPreconditionerType(string value, PreconditionerType* type) {
+ UpperCase(&value);
+ STRENUM(IDENTITY);
+ STRENUM(JACOBI);
+ STRENUM(SCHUR_JACOBI);
+ STRENUM(CLUSTER_JACOBI);
+ STRENUM(CLUSTER_TRIDIAGONAL);
+ return false;
+}
+
+const char* SparseLinearAlgebraLibraryTypeToString(
+ SparseLinearAlgebraLibraryType sparse_linear_algebra_library_type) {
+ switch (sparse_linear_algebra_library_type) {
+ CASESTR(SUITE_SPARSE);
+ CASESTR(CX_SPARSE);
+ default:
+ return "UNKNOWN";
+ }
+}
+
+
+bool StringToSparseLinearAlgebraLibraryType(
+ string value,
+ SparseLinearAlgebraLibraryType* type) {
+ UpperCase(&value);
+ STRENUM(SUITE_SPARSE);
+ STRENUM(CX_SPARSE);
+ return false;
+}
+
+const char* TrustRegionStrategyTypeToString(
+ TrustRegionStrategyType trust_region_strategy_type) {
+ switch (trust_region_strategy_type) {
+ CASESTR(LEVENBERG_MARQUARDT);
+ CASESTR(DOGLEG);
+ default:
+ return "UNKNOWN";
+ }
+}
+
+bool StringToTrustRegionStrategyType(string value,
+ TrustRegionStrategyType* type) {
+ UpperCase(&value);
+ STRENUM(LEVENBERG_MARQUARDT);
+ STRENUM(DOGLEG);
+ return false;
+}
+
+const char* DoglegTypeToString(DoglegType dogleg_type) {
+ switch (dogleg_type) {
+ CASESTR(TRADITIONAL_DOGLEG);
+ CASESTR(SUBSPACE_DOGLEG);
+ default:
+ return "UNKNOWN";
+ }
+}
+
+bool StringToDoglegType(string value, DoglegType* type) {
+ UpperCase(&value);
+ STRENUM(TRADITIONAL_DOGLEG);
+ STRENUM(SUBSPACE_DOGLEG);
+ return false;
+}
+
+const char* SolverTerminationTypeToString(
+ SolverTerminationType termination_type) {
+ switch (termination_type) {
+ CASESTR(NO_CONVERGENCE);
+ CASESTR(FUNCTION_TOLERANCE);
+ CASESTR(GRADIENT_TOLERANCE);
+ CASESTR(PARAMETER_TOLERANCE);
+ CASESTR(NUMERICAL_FAILURE);
+ CASESTR(USER_ABORT);
+ CASESTR(USER_SUCCESS);
+ CASESTR(DID_NOT_RUN);
+ default:
+ return "UNKNOWN";
+ }
+}
+
+const char* LinearSolverTerminationTypeToString(
+ LinearSolverTerminationType termination_type) {
+ switch (termination_type) {
+ CASESTR(TOLERANCE);
+ CASESTR(MAX_ITERATIONS);
+ CASESTR(STAGNATION);
+ CASESTR(FAILURE);
+ default:
+ return "UNKNOWN";
+ }
+}
+
+#undef CASESTR
+#undef STRENUM
+
+bool IsSchurType(LinearSolverType type) {
+ return ((type == SPARSE_SCHUR) ||
+ (type == DENSE_SCHUR) ||
+ (type == ITERATIVE_SCHUR));
+}
+
+bool IsSparseLinearAlgebraLibraryTypeAvailable(
+ SparseLinearAlgebraLibraryType type) {
+ if (type == SUITE_SPARSE) {
+#ifdef CERES_NO_SUITESPARSE
+ return false;
+#else
+ return true;
+#endif
+ }
+
+ if (type == CX_SPARSE) {
+#ifdef CERES_NO_CXSPARSE
+ return false;
+#else
+ return true;
+#endif
+ }
+
+ LOG(WARNING) << "Unknown sparse linear algebra library " << type;
+ return false;
+}
+
+} // namespace ceres
diff --git a/internal/ceres/unsymmetric_linear_solver_test.cc b/internal/ceres/unsymmetric_linear_solver_test.cc
new file mode 100644
index 0000000..0b0d593
--- /dev/null
+++ b/internal/ceres/unsymmetric_linear_solver_test.cc
@@ -0,0 +1,139 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/casts.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/linear_solver.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+
+namespace ceres {
+namespace internal {
+
+class UnsymmetricLinearSolverTest : public ::testing::Test {
+ protected :
+ virtual void SetUp() {
+ scoped_ptr<LinearLeastSquaresProblem> problem(
+ CreateLinearLeastSquaresProblemFromId(0));
+
+ CHECK_NOTNULL(problem.get());
+ A_.reset(down_cast<TripletSparseMatrix*>(problem->A.release()));
+ b_.reset(problem->b.release());
+ D_.reset(problem->D.release());
+ sol_unregularized_.reset(problem->x.release());
+ sol_regularized_.reset(problem->x_D.release());
+ }
+
+ void TestSolver(
+ LinearSolverType linear_solver_type,
+ SparseLinearAlgebraLibraryType sparse_linear_algebra_library) {
+ LinearSolver::Options options;
+ options.type = linear_solver_type;
+ options.sparse_linear_algebra_library = sparse_linear_algebra_library;
+ options.use_block_amd = false;
+ scoped_ptr<LinearSolver> solver(LinearSolver::Create(options));
+
+ LinearSolver::PerSolveOptions per_solve_options;
+ LinearSolver::Summary unregularized_solve_summary;
+ LinearSolver::Summary regularized_solve_summary;
+ Vector x_unregularized(A_->num_cols());
+ Vector x_regularized(A_->num_cols());
+
+ scoped_ptr<SparseMatrix> transformed_A;
+
+ if (linear_solver_type == DENSE_QR ||
+ linear_solver_type == DENSE_NORMAL_CHOLESKY) {
+ transformed_A.reset(new DenseSparseMatrix(*A_));
+ } else if (linear_solver_type == SPARSE_NORMAL_CHOLESKY) {
+ transformed_A.reset(new CompressedRowSparseMatrix(*A_));
+ } else {
+ LOG(FATAL) << "Unknown linear solver : " << linear_solver_type;
+ }
+ // Unregularized
+ unregularized_solve_summary =
+ solver->Solve(transformed_A.get(),
+ b_.get(),
+ per_solve_options,
+ x_unregularized.data());
+
+ // Regularized solution
+ per_solve_options.D = D_.get();
+ regularized_solve_summary =
+ solver->Solve(transformed_A.get(),
+ b_.get(),
+ per_solve_options,
+ x_regularized.data());
+
+ EXPECT_EQ(unregularized_solve_summary.termination_type, TOLERANCE);
+
+ for (int i = 0; i < A_->num_cols(); ++i) {
+ EXPECT_NEAR(sol_unregularized_[i], x_unregularized[i], 1e-8);
+ }
+
+ EXPECT_EQ(regularized_solve_summary.termination_type, TOLERANCE);
+ for (int i = 0; i < A_->num_cols(); ++i) {
+ EXPECT_NEAR(sol_regularized_[i], x_regularized[i], 1e-8);
+ }
+ }
+
+ scoped_ptr<TripletSparseMatrix> A_;
+ scoped_array<double> b_;
+ scoped_array<double> D_;
+ scoped_array<double> sol_unregularized_;
+ scoped_array<double> sol_regularized_;
+};
+
+TEST_F(UnsymmetricLinearSolverTest, DenseQR) {
+ TestSolver(DENSE_QR, SUITE_SPARSE);
+}
+
+TEST_F(UnsymmetricLinearSolverTest, DenseNormalCholesky) {
+ TestSolver(DENSE_NORMAL_CHOLESKY, SUITE_SPARSE);
+}
+
+#ifndef CERES_NO_SUITESPARSE
+TEST_F(UnsymmetricLinearSolverTest, SparseNormalCholeskyUsingSuiteSparse) {
+ TestSolver(SPARSE_NORMAL_CHOLESKY, SUITE_SPARSE);
+}
+#endif
+
+#ifndef CERES_NO_CXSPARSE
+TEST_F(UnsymmetricLinearSolverTest, SparseNormalCholeskyUsingCXSparse) {
+ TestSolver(SPARSE_NORMAL_CHOLESKY, CX_SPARSE);
+}
+#endif
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/visibility.cc b/internal/ceres/visibility.cc
new file mode 100644
index 0000000..9d80654
--- /dev/null
+++ b/internal/ceres/visibility.cc
@@ -0,0 +1,149 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: kushalav@google.com (Avanish Kushal)
+
+#include <cmath>
+#include <ctime>
+#include <algorithm>
+#include <set>
+#include <vector>
+#include <utility>
+#include "ceres/block_structure.h"
+#include "ceres/collections_port.h"
+#include "ceres/graph.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+void ComputeVisibility(const CompressedRowBlockStructure& block_structure,
+ const int num_eliminate_blocks,
+ vector< set<int> >* visibility) {
+ CHECK_NOTNULL(visibility);
+
+ // Clear the visibility vector and resize it to hold a
+ // vector for each camera.
+ visibility->resize(0);
+ visibility->resize(block_structure.cols.size() - num_eliminate_blocks);
+
+ for (int i = 0; i < block_structure.rows.size(); ++i) {
+ const vector<Cell>& cells = block_structure.rows[i].cells;
+ int block_id = cells[0].block_id;
+ // If the first block is not an e_block, then skip this row block.
+ if (block_id >= num_eliminate_blocks) {
+ continue;
+ }
+
+ for (int j = 1; j < cells.size(); ++j) {
+ int camera_block_id = cells[j].block_id - num_eliminate_blocks;
+ DCHECK_GE(camera_block_id, 0);
+ DCHECK_LT(camera_block_id, visibility->size());
+ (*visibility)[camera_block_id].insert(block_id);
+ }
+ }
+}
+
+Graph<int>* CreateSchurComplementGraph(const vector<set<int> >& visibility) {
+ const time_t start_time = time(NULL);
+ // Compute the number of e_blocks/point blocks. Since the visibility
+ // set for each e_block/camera contains the set of e_blocks/points
+ // visible to it, we find the maximum across all visibility sets.
+ int num_points = 0;
+ for (int i = 0; i < visibility.size(); i++) {
+ if (visibility[i].size() > 0) {
+ num_points = max(num_points, (*visibility[i].rbegin()) + 1);
+ }
+ }
+
+ // Invert the visibility. The input is a camera->point mapping,
+ // which tells us which points are visible in which
+ // cameras. However, to compute the sparsity structure of the Schur
+ // Complement efficiently, its better to have the point->camera
+ // mapping.
+ vector<set<int> > inverse_visibility(num_points);
+ for (int i = 0; i < visibility.size(); i++) {
+ const set<int>& visibility_set = visibility[i];
+ for (set<int>::const_iterator it = visibility_set.begin();
+ it != visibility_set.end();
+ ++it) {
+ inverse_visibility[*it].insert(i);
+ }
+ }
+
+ // Map from camera pairs to number of points visible to both cameras
+ // in the pair.
+ HashMap<pair<int, int>, int > camera_pairs;
+
+ // Count the number of points visible to each camera/f_block pair.
+ for (vector<set<int> >::const_iterator it = inverse_visibility.begin();
+ it != inverse_visibility.end();
+ ++it) {
+ const set<int>& inverse_visibility_set = *it;
+ for (set<int>::const_iterator camera1 = inverse_visibility_set.begin();
+ camera1 != inverse_visibility_set.end();
+ ++camera1) {
+ set<int>::const_iterator camera2 = camera1;
+ for (++camera2; camera2 != inverse_visibility_set.end(); ++camera2) {
+ ++(camera_pairs[make_pair(*camera1, *camera2)]);
+ }
+ }
+ }
+
+ Graph<int>* graph = new Graph<int>();
+
+ // Add vertices and initialize the pairs for self edges so that self
+ // edges are guaranteed. This is needed for the Canonical views
+ // algorithm to work correctly.
+ static const double kSelfEdgeWeight = 1.0;
+ for (int i = 0; i < visibility.size(); ++i) {
+ graph->AddVertex(i);
+ graph->AddEdge(i, i, kSelfEdgeWeight);
+ }
+
+ // Add an edge for each camera pair.
+ for (HashMap<pair<int, int>, int>::const_iterator it = camera_pairs.begin();
+ it != camera_pairs.end();
+ ++it) {
+ const int camera1 = it->first.first;
+ const int camera2 = it->first.second;
+ CHECK_NE(camera1, camera2);
+
+ const int count = it->second;
+ // Static cast necessary for Windows.
+ const double weight = static_cast<double>(count) /
+ (sqrt(static_cast<double>(visibility[camera1].size() * visibility[camera2].size())));
+ graph->AddEdge(camera1, camera2, weight);
+ }
+
+ VLOG(2) << "Schur complement graph time: " << (time(NULL) - start_time);
+ return graph;
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/visibility.h b/internal/ceres/visibility.h
new file mode 100644
index 0000000..f29e3c6
--- /dev/null
+++ b/internal/ceres/visibility.h
@@ -0,0 +1,77 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: kushalav@google.com (Avanish Kushal)
+// sameeragarwal@google.com (Sameer Agarwal)
+//
+// Functions to manipulate visibility information from the block
+// structure of sparse matrices.
+
+#ifndef CERES_INTERNAL_VISIBILITY_H_
+#define CERES_INTERNAL_VISIBILITY_H_
+
+#include <set>
+#include <vector>
+#include "ceres/graph.h"
+
+namespace ceres {
+namespace internal {
+
+struct CompressedRowBlockStructure;
+
+// Given a compressed row block structure, computes the set of
+// e_blocks "visible" to each f_block. If an e_block co-occurs with an
+// f_block in a residual block, it is visible to the f_block. The
+// first num_eliminate_blocks columns blocks are e_blocks and the rest
+// f_blocks.
+//
+// In a structure from motion problem, e_blocks correspond to 3D
+// points and f_blocks correspond to cameras.
+void ComputeVisibility(const CompressedRowBlockStructure& block_structure,
+ int num_eliminate_blocks,
+ vector<set<int> >* visibility);
+
+// Given f_block visibility as computed by the ComputeVisibility
+// function above, construct and return a graph whose vertices are
+// f_blocks and an edge connects two vertices if they have atleast one
+// e_block in common. The weight of this edge is normalized dot
+// product between the visibility vectors of the two
+// vertices/f_blocks.
+//
+// This graph reflects the sparsity structure of reduced camera
+// matrix/Schur complement matrix obtained by eliminating the e_blocks
+// from the normal equations.
+//
+// Caller acquires ownership of the returned Graph pointer
+// (heap-allocated).
+Graph<int>* CreateSchurComplementGraph(const vector<set<int> >& visibility);
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_VISIBILITY_H_
diff --git a/internal/ceres/visibility_based_preconditioner.cc b/internal/ceres/visibility_based_preconditioner.cc
new file mode 100644
index 0000000..ae26d91
--- /dev/null
+++ b/internal/ceres/visibility_based_preconditioner.cc
@@ -0,0 +1,613 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/visibility_based_preconditioner.h"
+
+#include <algorithm>
+#include <functional>
+#include <iterator>
+#include <set>
+#include <utility>
+#include <vector>
+#include "Eigen/Dense"
+#include "ceres/block_random_access_sparse_matrix.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/canonical_views_clustering.h"
+#include "ceres/collections_port.h"
+#include "ceres/detect_structure.h"
+#include "ceres/graph.h"
+#include "ceres/graph_algorithms.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_solver.h"
+#include "ceres/schur_eliminator.h"
+#include "ceres/visibility.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+// TODO(sameeragarwal): Currently these are magic weights for the
+// preconditioner construction. Move these higher up into the Options
+// struct and provide some guidelines for choosing them.
+//
+// This will require some more work on the clustering algorithm and
+// possibly some more refactoring of the code.
+static const double kSizePenaltyWeight = 3.0;
+static const double kSimilarityPenaltyWeight = 0.0;
+
+#ifndef CERES_NO_SUITESPARSE
+VisibilityBasedPreconditioner::VisibilityBasedPreconditioner(
+ const CompressedRowBlockStructure& bs,
+ const LinearSolver::Options& options)
+ : options_(options),
+ num_blocks_(0),
+ num_clusters_(0),
+ factor_(NULL) {
+ CHECK_GT(options_.elimination_groups.size(), 1);
+ CHECK_GT(options_.elimination_groups[0], 0);
+ CHECK(options_.preconditioner_type == SCHUR_JACOBI ||
+ options_.preconditioner_type == CLUSTER_JACOBI ||
+ options_.preconditioner_type == CLUSTER_TRIDIAGONAL)
+ << "Unknown preconditioner type: " << options_.preconditioner_type;
+ num_blocks_ = bs.cols.size() - options_.elimination_groups[0];
+ CHECK_GT(num_blocks_, 0)
+ << "Jacobian should have atleast 1 f_block for "
+ << "visibility based preconditioning.";
+
+ // Vector of camera block sizes
+ block_size_.resize(num_blocks_);
+ for (int i = 0; i < num_blocks_; ++i) {
+ block_size_[i] = bs.cols[i + options_.elimination_groups[0]].size;
+ }
+
+ const time_t start_time = time(NULL);
+ switch (options_.preconditioner_type) {
+ case SCHUR_JACOBI:
+ ComputeSchurJacobiSparsity(bs);
+ break;
+ case CLUSTER_JACOBI:
+ ComputeClusterJacobiSparsity(bs);
+ break;
+ case CLUSTER_TRIDIAGONAL:
+ ComputeClusterTridiagonalSparsity(bs);
+ break;
+ default:
+ LOG(FATAL) << "Unknown preconditioner type";
+ }
+ const time_t structure_time = time(NULL);
+ InitStorage(bs);
+ const time_t storage_time = time(NULL);
+ InitEliminator(bs);
+ const time_t eliminator_time = time(NULL);
+
+ // Allocate temporary storage for a vector used during
+ // RightMultiply.
+ tmp_rhs_ = CHECK_NOTNULL(ss_.CreateDenseVector(NULL,
+ m_->num_rows(),
+ m_->num_rows()));
+ const time_t init_time = time(NULL);
+ VLOG(2) << "init time: "
+ << init_time - start_time
+ << " structure time: " << structure_time - start_time
+ << " storage time:" << storage_time - structure_time
+ << " eliminator time: " << eliminator_time - storage_time;
+}
+
+VisibilityBasedPreconditioner::~VisibilityBasedPreconditioner() {
+ if (factor_ != NULL) {
+ ss_.Free(factor_);
+ factor_ = NULL;
+ }
+ if (tmp_rhs_ != NULL) {
+ ss_.Free(tmp_rhs_);
+ tmp_rhs_ = NULL;
+ }
+}
+
+// Determine the sparsity structure of the SCHUR_JACOBI
+// preconditioner. SCHUR_JACOBI is an extreme case of a visibility
+// based preconditioner where each camera block corresponds to a
+// cluster and there is no interaction between clusters.
+void VisibilityBasedPreconditioner::ComputeSchurJacobiSparsity(
+ const CompressedRowBlockStructure& bs) {
+ num_clusters_ = num_blocks_;
+ cluster_membership_.resize(num_blocks_);
+ cluster_pairs_.clear();
+
+ // Each camea block is a member of its own cluster and the only
+ // cluster pairs are the self edges (i,i).
+ for (int i = 0; i < num_clusters_; ++i) {
+ cluster_membership_[i] = i;
+ cluster_pairs_.insert(make_pair(i, i));
+ }
+}
+
+// Determine the sparsity structure of the CLUSTER_JACOBI
+// preconditioner. It clusters cameras using their scene
+// visibility. The clusters form the diagonal blocks of the
+// preconditioner matrix.
+void VisibilityBasedPreconditioner::ComputeClusterJacobiSparsity(
+ const CompressedRowBlockStructure& bs) {
+ vector<set<int> > visibility;
+ ComputeVisibility(bs, options_.elimination_groups[0], &visibility);
+ CHECK_EQ(num_blocks_, visibility.size());
+ ClusterCameras(visibility);
+ cluster_pairs_.clear();
+ for (int i = 0; i < num_clusters_; ++i) {
+ cluster_pairs_.insert(make_pair(i, i));
+ }
+}
+
+// Determine the sparsity structure of the CLUSTER_TRIDIAGONAL
+// preconditioner. It clusters cameras using using the scene
+// visibility and then finds the strongly interacting pairs of
+// clusters by constructing another graph with the clusters as
+// vertices and approximating it with a degree-2 maximum spanning
+// forest. The set of edges in this forest are the cluster pairs.
+void VisibilityBasedPreconditioner::ComputeClusterTridiagonalSparsity(
+ const CompressedRowBlockStructure& bs) {
+ vector<set<int> > visibility;
+ ComputeVisibility(bs, options_.elimination_groups[0], &visibility);
+ CHECK_EQ(num_blocks_, visibility.size());
+ ClusterCameras(visibility);
+
+ // Construct a weighted graph on the set of clusters, where the
+ // edges are the number of 3D points/e_blocks visible in both the
+ // clusters at the ends of the edge. Return an approximate degree-2
+ // maximum spanning forest of this graph.
+ vector<set<int> > cluster_visibility;
+ ComputeClusterVisibility(visibility, &cluster_visibility);
+ scoped_ptr<Graph<int> > cluster_graph(
+ CHECK_NOTNULL(CreateClusterGraph(cluster_visibility)));
+ scoped_ptr<Graph<int> > forest(
+ CHECK_NOTNULL(Degree2MaximumSpanningForest(*cluster_graph)));
+ ForestToClusterPairs(*forest, &cluster_pairs_);
+}
+
+// Allocate storage for the preconditioner matrix.
+void VisibilityBasedPreconditioner::InitStorage(
+ const CompressedRowBlockStructure& bs) {
+ ComputeBlockPairsInPreconditioner(bs);
+ m_.reset(new BlockRandomAccessSparseMatrix(block_size_, block_pairs_));
+}
+
+// Call the canonical views algorithm and cluster the cameras based on
+// their visibility sets. The visibility set of a camera is the set of
+// e_blocks/3D points in the scene that are seen by it.
+//
+// The cluster_membership_ vector is updated to indicate cluster
+// memberships for each camera block.
+void VisibilityBasedPreconditioner::ClusterCameras(
+ const vector<set<int> >& visibility) {
+ scoped_ptr<Graph<int> > schur_complement_graph(
+ CHECK_NOTNULL(CreateSchurComplementGraph(visibility)));
+
+ CanonicalViewsClusteringOptions options;
+ options.size_penalty_weight = kSizePenaltyWeight;
+ options.similarity_penalty_weight = kSimilarityPenaltyWeight;
+
+ vector<int> centers;
+ HashMap<int, int> membership;
+ ComputeCanonicalViewsClustering(*schur_complement_graph,
+ options,
+ ¢ers,
+ &membership);
+ num_clusters_ = centers.size();
+ CHECK_GT(num_clusters_, 0);
+ VLOG(2) << "num_clusters: " << num_clusters_;
+ FlattenMembershipMap(membership, &cluster_membership_);
+}
+
+// Compute the block sparsity structure of the Schur complement
+// matrix. For each pair of cameras contributing a non-zero cell to
+// the schur complement, determine if that cell is present in the
+// preconditioner or not.
+//
+// A pair of cameras contribute a cell to the preconditioner if they
+// are part of the same cluster or if the the two clusters that they
+// belong have an edge connecting them in the degree-2 maximum
+// spanning forest.
+//
+// For example, a camera pair (i,j) where i belonges to cluster1 and
+// j belongs to cluster2 (assume that cluster1 < cluster2).
+//
+// The cell corresponding to (i,j) is present in the preconditioner
+// if cluster1 == cluster2 or the pair (cluster1, cluster2) were
+// connected by an edge in the degree-2 maximum spanning forest.
+//
+// Since we have already expanded the forest into a set of camera
+// pairs/edges, including self edges, the check can be reduced to
+// checking membership of (cluster1, cluster2) in cluster_pairs_.
+void VisibilityBasedPreconditioner::ComputeBlockPairsInPreconditioner(
+ const CompressedRowBlockStructure& bs) {
+ block_pairs_.clear();
+ for (int i = 0; i < num_blocks_; ++i) {
+ block_pairs_.insert(make_pair(i, i));
+ }
+
+ int r = 0;
+ const int num_row_blocks = bs.rows.size();
+ const int num_eliminate_blocks = options_.elimination_groups[0];
+
+ // Iterate over each row of the matrix. The block structure of the
+ // matrix is assumed to be sorted in order of the e_blocks/point
+ // blocks. Thus all row blocks containing an e_block/point occur
+ // contiguously. Further, if present, an e_block is always the first
+ // parameter block in each row block. These structural assumptions
+ // are common to all Schur complement based solvers in Ceres.
+ //
+ // For each e_block/point block we identify the set of cameras
+ // seeing it. The cross product of this set with itself is the set
+ // of non-zero cells contibuted by this e_block.
+ //
+ // The time complexity of this is O(nm^2) where, n is the number of
+ // 3d points and m is the maximum number of cameras seeing any
+ // point, which for most scenes is a fairly small number.
+ while (r < num_row_blocks) {
+ int e_block_id = bs.rows[r].cells.front().block_id;
+ if (e_block_id >= num_eliminate_blocks) {
+ // Skip the rows whose first block is an f_block.
+ break;
+ }
+
+ set<int> f_blocks;
+ for (; r < num_row_blocks; ++r) {
+ const CompressedRow& row = bs.rows[r];
+ if (row.cells.front().block_id != e_block_id) {
+ break;
+ }
+
+ // Iterate over the blocks in the row, ignoring the first block
+ // since it is the one to be eliminated and adding the rest to
+ // the list of f_blocks associated with this e_block.
+ for (int c = 1; c < row.cells.size(); ++c) {
+ const Cell& cell = row.cells[c];
+ const int f_block_id = cell.block_id - num_eliminate_blocks;
+ CHECK_GE(f_block_id, 0);
+ f_blocks.insert(f_block_id);
+ }
+ }
+
+ for (set<int>::const_iterator block1 = f_blocks.begin();
+ block1 != f_blocks.end();
+ ++block1) {
+ set<int>::const_iterator block2 = block1;
+ ++block2;
+ for (; block2 != f_blocks.end(); ++block2) {
+ if (IsBlockPairInPreconditioner(*block1, *block2)) {
+ block_pairs_.insert(make_pair(*block1, *block2));
+ }
+ }
+ }
+ }
+
+ // The remaining rows which do not contain any e_blocks.
+ for (; r < num_row_blocks; ++r) {
+ const CompressedRow& row = bs.rows[r];
+ CHECK_GE(row.cells.front().block_id, num_eliminate_blocks);
+ for (int i = 0; i < row.cells.size(); ++i) {
+ const int block1 = row.cells[i].block_id - num_eliminate_blocks;
+ for (int j = 0; j < row.cells.size(); ++j) {
+ const int block2 = row.cells[j].block_id - num_eliminate_blocks;
+ if (block1 <= block2) {
+ if (IsBlockPairInPreconditioner(block1, block2)) {
+ block_pairs_.insert(make_pair(block1, block2));
+ }
+ }
+ }
+ }
+ }
+
+ VLOG(1) << "Block pair stats: " << block_pairs_.size();
+}
+
+// Initialize the SchurEliminator.
+void VisibilityBasedPreconditioner::InitEliminator(
+ const CompressedRowBlockStructure& bs) {
+ LinearSolver::Options eliminator_options;
+
+ eliminator_options.elimination_groups = options_.elimination_groups;
+ eliminator_options.num_threads = options_.num_threads;
+
+ DetectStructure(bs, options_.elimination_groups[0],
+ &eliminator_options.row_block_size,
+ &eliminator_options.e_block_size,
+ &eliminator_options.f_block_size);
+
+ eliminator_.reset(SchurEliminatorBase::Create(eliminator_options));
+ eliminator_->Init(options_.elimination_groups[0], &bs);
+}
+
+// Update the values of the preconditioner matrix and factorize it.
+bool VisibilityBasedPreconditioner::Update(const BlockSparseMatrixBase& A,
+ const double* D) {
+ const time_t start_time = time(NULL);
+ const int num_rows = m_->num_rows();
+ CHECK_GT(num_rows, 0);
+
+ // We need a dummy rhs vector and a dummy b vector since the Schur
+ // eliminator combines the computation of the reduced camera matrix
+ // with the computation of the right hand side of that linear
+ // system.
+ //
+ // TODO(sameeragarwal): Perhaps its worth refactoring the
+ // SchurEliminator::Eliminate function to allow NULL for the rhs. As
+ // of now it does not seem to be worth the effort.
+ Vector rhs = Vector::Zero(m_->num_rows());
+ Vector b = Vector::Zero(A.num_rows());
+
+ // Compute a subset of the entries of the Schur complement.
+ eliminator_->Eliminate(&A, b.data(), D, m_.get(), rhs.data());
+
+ // Try factorizing the matrix. For SCHUR_JACOBI and CLUSTER_JACOBI,
+ // this should always succeed modulo some numerical/conditioning
+ // problems. For CLUSTER_TRIDIAGONAL, in general the preconditioner
+ // matrix as constructed is not positive definite. However, we will
+ // go ahead and try factorizing it. If it works, great, otherwise we
+ // scale all the cells in the preconditioner corresponding to the
+ // edges in the degree-2 forest and that guarantees positive
+ // definiteness. The proof of this fact can be found in Lemma 1 in
+ // "Visibility Based Preconditioning for Bundle Adjustment".
+ //
+ // Doing the factorization like this saves us matrix mass when
+ // scaling is not needed, which is quite often in our experience.
+ bool status = Factorize();
+
+ // The scaling only affects the tri-diagonal case, since
+ // ScaleOffDiagonalBlocks only pays attenion to the cells that
+ // belong to the edges of the degree-2 forest. In the SCHUR_JACOBI
+ // and the CLUSTER_JACOBI cases, the preconditioner is guaranteed to
+ // be positive semidefinite.
+ if (!status && options_.preconditioner_type == CLUSTER_TRIDIAGONAL) {
+ VLOG(1) << "Unscaled factorization failed. Retrying with off-diagonal "
+ << "scaling";
+ ScaleOffDiagonalCells();
+ status = Factorize();
+ }
+
+ VLOG(2) << "Compute time: " << time(NULL) - start_time;
+ return status;
+}
+
+// Consider the preconditioner matrix as meta-block matrix, whose
+// blocks correspond to the clusters. Then cluster pairs corresponding
+// to edges in the degree-2 forest are off diagonal entries of this
+// matrix. Scaling these off-diagonal entries by 1/2 forces this
+// matrix to be positive definite.
+void VisibilityBasedPreconditioner::ScaleOffDiagonalCells() {
+ for (set< pair<int, int> >::const_iterator it = block_pairs_.begin();
+ it != block_pairs_.end();
+ ++it) {
+ const int block1 = it->first;
+ const int block2 = it->second;
+ if (!IsBlockPairOffDiagonal(block1, block2)) {
+ continue;
+ }
+
+ int r, c, row_stride, col_stride;
+ CellInfo* cell_info = m_->GetCell(block1, block2,
+ &r, &c,
+ &row_stride, &col_stride);
+ CHECK(cell_info != NULL)
+ << "Cell missing for block pair (" << block1 << "," << block2 << ")"
+ << " cluster pair (" << cluster_membership_[block1]
+ << " " << cluster_membership_[block2] << ")";
+
+ // Ah the magic of tri-diagonal matrices and diagonal
+ // dominance. See Lemma 1 in "Visibility Based Preconditioning
+ // For Bundle Adjustment".
+ MatrixRef m(cell_info->values, row_stride, col_stride);
+ m.block(r, c, block_size_[block1], block_size_[block2]) *= 0.5;
+ }
+}
+
+// Compute the sparse Cholesky factorization of the preconditioner
+// matrix.
+bool VisibilityBasedPreconditioner::Factorize() {
+ // Extract the TripletSparseMatrix that is used for actually storing
+ // S and convert it into a cholmod_sparse object.
+ cholmod_sparse* lhs = ss_.CreateSparseMatrix(
+ down_cast<BlockRandomAccessSparseMatrix*>(
+ m_.get())->mutable_matrix());
+
+ // The matrix is symmetric, and the upper triangular part of the
+ // matrix contains the values.
+ lhs->stype = 1;
+
+ // Symbolic factorization is computed if we don't already have one handy.
+ if (factor_ == NULL) {
+ if (options_.use_block_amd) {
+ factor_ = ss_.BlockAnalyzeCholesky(lhs, block_size_, block_size_);
+ } else {
+ factor_ = ss_.AnalyzeCholesky(lhs);
+ }
+
+ if (VLOG_IS_ON(2)) {
+ cholmod_print_common("Symbolic Analysis", ss_.mutable_cc());
+ }
+ }
+
+ CHECK_NOTNULL(factor_);
+
+ bool status = ss_.Cholesky(lhs, factor_);
+ ss_.Free(lhs);
+ return status;
+}
+
+void VisibilityBasedPreconditioner::RightMultiply(const double* x,
+ double* y) const {
+ CHECK_NOTNULL(x);
+ CHECK_NOTNULL(y);
+ SuiteSparse* ss = const_cast<SuiteSparse*>(&ss_);
+
+ const int num_rows = m_->num_rows();
+ memcpy(CHECK_NOTNULL(tmp_rhs_)->x, x, m_->num_rows() * sizeof(*x));
+ cholmod_dense* solution = CHECK_NOTNULL(ss->Solve(factor_, tmp_rhs_));
+ memcpy(y, solution->x, sizeof(*y) * num_rows);
+ ss->Free(solution);
+}
+
+int VisibilityBasedPreconditioner::num_rows() const {
+ return m_->num_rows();
+}
+
+// Classify camera/f_block pairs as in and out of the preconditioner,
+// based on whether the cluster pair that they belong to is in the
+// preconditioner or not.
+bool VisibilityBasedPreconditioner::IsBlockPairInPreconditioner(
+ const int block1,
+ const int block2) const {
+ int cluster1 = cluster_membership_[block1];
+ int cluster2 = cluster_membership_[block2];
+ if (cluster1 > cluster2) {
+ std::swap(cluster1, cluster2);
+ }
+ return (cluster_pairs_.count(make_pair(cluster1, cluster2)) > 0);
+}
+
+bool VisibilityBasedPreconditioner::IsBlockPairOffDiagonal(
+ const int block1,
+ const int block2) const {
+ return (cluster_membership_[block1] != cluster_membership_[block2]);
+}
+
+// Convert a graph into a list of edges that includes self edges for
+// each vertex.
+void VisibilityBasedPreconditioner::ForestToClusterPairs(
+ const Graph<int>& forest,
+ HashSet<pair<int, int> >* cluster_pairs) const {
+ CHECK_NOTNULL(cluster_pairs)->clear();
+ const HashSet<int>& vertices = forest.vertices();
+ CHECK_EQ(vertices.size(), num_clusters_);
+
+ // Add all the cluster pairs corresponding to the edges in the
+ // forest.
+ for (HashSet<int>::const_iterator it1 = vertices.begin();
+ it1 != vertices.end();
+ ++it1) {
+ const int cluster1 = *it1;
+ cluster_pairs->insert(make_pair(cluster1, cluster1));
+ const HashSet<int>& neighbors = forest.Neighbors(cluster1);
+ for (HashSet<int>::const_iterator it2 = neighbors.begin();
+ it2 != neighbors.end();
+ ++it2) {
+ const int cluster2 = *it2;
+ if (cluster1 < cluster2) {
+ cluster_pairs->insert(make_pair(cluster1, cluster2));
+ }
+ }
+ }
+}
+
+// The visibilty set of a cluster is the union of the visibilty sets
+// of all its cameras. In other words, the set of points visible to
+// any camera in the cluster.
+void VisibilityBasedPreconditioner::ComputeClusterVisibility(
+ const vector<set<int> >& visibility,
+ vector<set<int> >* cluster_visibility) const {
+ CHECK_NOTNULL(cluster_visibility)->resize(0);
+ cluster_visibility->resize(num_clusters_);
+ for (int i = 0; i < num_blocks_; ++i) {
+ const int cluster_id = cluster_membership_[i];
+ (*cluster_visibility)[cluster_id].insert(visibility[i].begin(),
+ visibility[i].end());
+ }
+}
+
+// Construct a graph whose vertices are the clusters, and the edge
+// weights are the number of 3D points visible to cameras in both the
+// vertices.
+Graph<int>* VisibilityBasedPreconditioner::CreateClusterGraph(
+ const vector<set<int> >& cluster_visibility) const {
+ Graph<int>* cluster_graph = new Graph<int>;
+
+ for (int i = 0; i < num_clusters_; ++i) {
+ cluster_graph->AddVertex(i);
+ }
+
+ for (int i = 0; i < num_clusters_; ++i) {
+ const set<int>& cluster_i = cluster_visibility[i];
+ for (int j = i+1; j < num_clusters_; ++j) {
+ vector<int> intersection;
+ const set<int>& cluster_j = cluster_visibility[j];
+ set_intersection(cluster_i.begin(), cluster_i.end(),
+ cluster_j.begin(), cluster_j.end(),
+ back_inserter(intersection));
+
+ if (intersection.size() > 0) {
+ // Clusters interact strongly when they share a large number
+ // of 3D points. The degree-2 maximum spanning forest
+ // alorithm, iterates on the edges in decreasing order of
+ // their weight, which is the number of points shared by the
+ // two cameras that it connects.
+ cluster_graph->AddEdge(i, j, intersection.size());
+ }
+ }
+ }
+ return cluster_graph;
+}
+
+// Canonical views clustering returns a HashMap from vertices to
+// cluster ids. Convert this into a flat array for quick lookup. It is
+// possible that some of the vertices may not be associated with any
+// cluster. In that case, randomly assign them to one of the clusters.
+void VisibilityBasedPreconditioner::FlattenMembershipMap(
+ const HashMap<int, int>& membership_map,
+ vector<int>* membership_vector) const {
+ CHECK_NOTNULL(membership_vector)->resize(0);
+ membership_vector->resize(num_blocks_, -1);
+ // Iterate over the cluster membership map and update the
+ // cluster_membership_ vector assigning arbitrary cluster ids to
+ // the few cameras that have not been clustered.
+ for (HashMap<int, int>::const_iterator it = membership_map.begin();
+ it != membership_map.end();
+ ++it) {
+ const int camera_id = it->first;
+ int cluster_id = it->second;
+
+ // If the view was not clustered, randomly assign it to one of the
+ // clusters. This preserves the mathematical correctness of the
+ // preconditioner. If there are too many views which are not
+ // clustered, it may lead to some quality degradation though.
+ //
+ // TODO(sameeragarwal): Check if a large number of views have not
+ // been clustered and deal with it?
+ if (cluster_id == -1) {
+ cluster_id = camera_id % num_clusters_;
+ }
+
+ membership_vector->at(camera_id) = cluster_id;
+ }
+}
+
+#endif // CERES_NO_SUITESPARSE
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/visibility_based_preconditioner.h b/internal/ceres/visibility_based_preconditioner.h
new file mode 100644
index 0000000..3246fb8
--- /dev/null
+++ b/internal/ceres/visibility_based_preconditioner.h
@@ -0,0 +1,273 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+//
+// Preconditioners for linear systems that arise in Structure from
+// Motion problems. VisibilityBasedPreconditioner implements three
+// preconditioners:
+//
+// SCHUR_JACOBI
+// CLUSTER_JACOBI
+// CLUSTER_TRIDIAGONAL
+//
+// Detailed descriptions of these preconditions beyond what is
+// documented here can be found in
+//
+// Bundle Adjustment in the Large
+// S. Agarwal, N. Snavely, S. Seitz & R. Szeliski, ECCV 2010
+// http://www.cs.washington.edu/homes/sagarwal/bal.pdf
+//
+// Visibility Based Preconditioning for Bundle Adjustment
+// A. Kushal & S. Agarwal, submitted to CVPR 2012
+// http://www.cs.washington.edu/homes/sagarwal/vbp.pdf
+//
+// The three preconditioners share enough code that its most efficient
+// to implement them as part of the same code base.
+
+#ifndef CERES_INTERNAL_VISIBILITY_BASED_PRECONDITIONER_H_
+#define CERES_INTERNAL_VISIBILITY_BASED_PRECONDITIONER_H_
+
+#include <set>
+#include <vector>
+#include <utility>
+#include "ceres/collections_port.h"
+#include "ceres/graph.h"
+#include "ceres/linear_solver.h"
+#include "ceres/linear_operator.h"
+#include "ceres/suitesparse.h"
+#include "ceres/internal/macros.h"
+#include "ceres/internal/scoped_ptr.h"
+
+namespace ceres {
+namespace internal {
+
+class BlockRandomAccessSparseMatrix;
+class BlockSparseMatrixBase;
+struct CompressedRowBlockStructure;
+class SchurEliminatorBase;
+
+// This class implements three preconditioners for Structure from
+// Motion/Bundle Adjustment problems. The name
+// VisibilityBasedPreconditioner comes from the fact that the sparsity
+// structure of the preconditioner matrix is determined by analyzing
+// the visibility structure of the scene, i.e. which cameras see which
+// points.
+//
+// Strictly speaking, SCHUR_JACOBI is not a visibility based
+// preconditioner but it is an extreme case of CLUSTER_JACOBI, where
+// every cluster contains exactly one camera block. Treating it as a
+// special case of CLUSTER_JACOBI makes it easy to implement as part
+// of the same code base with no significant loss of performance.
+//
+// In the following, we will only discuss CLUSTER_JACOBI and
+// CLUSTER_TRIDIAGONAL.
+//
+// The key idea of visibility based preconditioning is to identify
+// cameras that we expect have strong interactions, and then using the
+// entries in the Schur complement matrix corresponding to these
+// camera pairs as an approximation to the full Schur complement.
+//
+// CLUSTER_JACOBI identifies these camera pairs by clustering cameras,
+// and considering all non-zero camera pairs within each cluster. The
+// clustering in the current implementation is done using the
+// Canonical Views algorithm of Simon et al. (see
+// canonical_views_clustering.h). For the purposes of clustering, the
+// similarity or the degree of interaction between a pair of cameras
+// is measured by counting the number of points visible in both the
+// cameras. Thus the name VisibilityBasedPreconditioner. Further, if we
+// were to permute the parameter blocks such that all the cameras in
+// the same cluster occur contiguously, the preconditioner matrix will
+// be a block diagonal matrix with blocks corresponding to the
+// clusters. Thus in analogy with the Jacobi preconditioner we refer
+// to this as the CLUSTER_JACOBI preconditioner.
+//
+// CLUSTER_TRIDIAGONAL adds more mass to the CLUSTER_JACOBI
+// preconditioner by considering the interaction between clusters and
+// identifying strong interactions between cluster pairs. This is done
+// by constructing a weighted graph on the clusters, with the weight
+// on the edges connecting two clusters proportional to the number of
+// 3D points visible to cameras in both the clusters. A degree-2
+// maximum spanning forest is identified in this graph and the camera
+// pairs contained in the edges of this forest are added to the
+// preconditioner. The detailed reasoning for this construction is
+// explained in the paper mentioned above.
+//
+// Degree-2 spanning trees and forests have the property that they
+// correspond to tri-diagonal matrices. Thus there exist a permutation
+// of the camera blocks under which the CLUSTER_TRIDIAGONAL
+// preconditioner matrix is a block tridiagonal matrix, and thus the
+// name for the preconditioner.
+//
+// Thread Safety: This class is NOT thread safe.
+//
+// Example usage:
+//
+// LinearSolver::Options options;
+// options.preconditioner_type = CLUSTER_JACOBI;
+// options.num_eliminate_blocks = num_points;
+// VisibilityBasedPreconditioner preconditioner(
+// *A.block_structure(), options);
+// preconditioner.Update(A, NULL);
+// preconditioner.RightMultiply(x, y);
+//
+
+#ifndef CERES_NO_SUITESPARSE
+class VisibilityBasedPreconditioner : public LinearOperator {
+ public:
+ // Initialize the symbolic structure of the preconditioner. bs is
+ // the block structure of the linear system to be solved. It is used
+ // to determine the sparsity structure of the preconditioner matrix.
+ //
+ // It has the same structural requirement as other Schur complement
+ // based solvers. Please see schur_eliminator.h for more details.
+ //
+ // LinearSolver::Options::num_eliminate_blocks should be set to the
+ // number of e_blocks in the block structure.
+ //
+ // TODO(sameeragarwal): The use of LinearSolver::Options should
+ // ultimately be replaced with Preconditioner::Options and some sort
+ // of preconditioner factory along the lines of
+ // LinearSolver::CreateLinearSolver. I will wait to do this till I
+ // create a general purpose block Jacobi preconditioner for general
+ // sparse problems along with a CGLS solver.
+ VisibilityBasedPreconditioner(const CompressedRowBlockStructure& bs,
+ const LinearSolver::Options& options);
+ virtual ~VisibilityBasedPreconditioner();
+
+ // Update the numerical value of the preconditioner for the linear
+ // system:
+ //
+ // | A | x = |b|
+ // |diag(D)| |0|
+ //
+ // for some vector b. It is important that the matrix A have the
+ // same block structure as the one used to construct this object.
+ //
+ // D can be NULL, in which case its interpreted as a diagonal matrix
+ // of size zero.
+ bool Update(const BlockSparseMatrixBase& A, const double* D);
+
+
+ // LinearOperator interface. Since the operator is symmetric,
+ // LeftMultiply and num_cols are just calls to RightMultiply and
+ // num_rows respectively. Update() must be called before
+ // RightMultiply can be called.
+ virtual void RightMultiply(const double* x, double* y) const;
+ virtual void LeftMultiply(const double* x, double* y) const {
+ RightMultiply(x, y);
+ }
+ virtual int num_rows() const;
+ virtual int num_cols() const { return num_rows(); }
+
+ friend class VisibilityBasedPreconditionerTest;
+ private:
+ void ComputeSchurJacobiSparsity(const CompressedRowBlockStructure& bs);
+ void ComputeClusterJacobiSparsity(const CompressedRowBlockStructure& bs);
+ void ComputeClusterTridiagonalSparsity(const CompressedRowBlockStructure& bs);
+ void InitStorage(const CompressedRowBlockStructure& bs);
+ void InitEliminator(const CompressedRowBlockStructure& bs);
+ bool Factorize();
+ void ScaleOffDiagonalCells();
+
+ void ClusterCameras(const vector< set<int> >& visibility);
+ void FlattenMembershipMap(const HashMap<int, int>& membership_map,
+ vector<int>* membership_vector) const;
+ void ComputeClusterVisibility(const vector<set<int> >& visibility,
+ vector<set<int> >* cluster_visibility) const;
+ Graph<int>* CreateClusterGraph(const vector<set<int> >& visibility) const;
+ void ForestToClusterPairs(const Graph<int>& forest,
+ HashSet<pair<int, int> >* cluster_pairs) const;
+ void ComputeBlockPairsInPreconditioner(const CompressedRowBlockStructure& bs);
+ bool IsBlockPairInPreconditioner(int block1, int block2) const;
+ bool IsBlockPairOffDiagonal(int block1, int block2) const;
+
+ LinearSolver::Options options_;
+
+ // Number of parameter blocks in the schur complement.
+ int num_blocks_;
+ int num_clusters_;
+
+ // Sizes of the blocks in the schur complement.
+ vector<int> block_size_;
+
+ // Mapping from cameras to clusters.
+ vector<int> cluster_membership_;
+
+ // Non-zero camera pairs from the schur complement matrix that are
+ // present in the preconditioner, sorted by row (first element of
+ // each pair), then column (second).
+ set<pair<int, int> > block_pairs_;
+
+ // Set of cluster pairs (including self pairs (i,i)) in the
+ // preconditioner.
+ HashSet<pair<int, int> > cluster_pairs_;
+ scoped_ptr<SchurEliminatorBase> eliminator_;
+
+ // Preconditioner matrix.
+ scoped_ptr<BlockRandomAccessSparseMatrix> m_;
+
+ // RightMultiply is a const method for LinearOperators. It is
+ // implemented using CHOLMOD's sparse triangular matrix solve
+ // function. This however requires non-const access to the
+ // SuiteSparse context object, even though it does not result in any
+ // of the state of the preconditioner being modified.
+ SuiteSparse ss_;
+
+ // Symbolic and numeric factorization of the preconditioner.
+ cholmod_factor* factor_;
+
+ // Temporary vector used by RightMultiply.
+ cholmod_dense* tmp_rhs_;
+ CERES_DISALLOW_COPY_AND_ASSIGN(VisibilityBasedPreconditioner);
+};
+#else // SuiteSparse
+// If SuiteSparse is not compiled in, the preconditioner is not
+// available.
+class VisibilityBasedPreconditioner : public LinearOperator {
+ public:
+ VisibilityBasedPreconditioner(const CompressedRowBlockStructure& bs,
+ const LinearSolver::Options& options) {
+ LOG(FATAL) << "Visibility based preconditioning is not available. Please "
+ "build Ceres with SuiteSparse.";
+ }
+ virtual ~VisibilityBasedPreconditioner() {}
+ virtual void RightMultiply(const double* x, double* y) const {}
+ virtual void LeftMultiply(const double* x, double* y) const {}
+ virtual int num_rows() const { return -1; }
+ virtual int num_cols() const { return -1; }
+ bool Update(const BlockSparseMatrixBase& A, const double* D) {
+ return false;
+ }
+};
+#endif // CERES_NO_SUITESPARSE
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_VISIBILITY_BASED_PRECONDITIONER_H_
diff --git a/internal/ceres/visibility_based_preconditioner_test.cc b/internal/ceres/visibility_based_preconditioner_test.cc
new file mode 100644
index 0000000..8c5378d
--- /dev/null
+++ b/internal/ceres/visibility_based_preconditioner_test.cc
@@ -0,0 +1,362 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#ifndef CERES_NO_SUITESPARSE
+
+#include "ceres/visibility_based_preconditioner.h"
+
+#include "Eigen/Dense"
+#include "ceres/block_random_access_dense_matrix.h"
+#include "ceres/block_random_access_sparse_matrix.h"
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/casts.h"
+#include "ceres/collections_port.h"
+#include "ceres/file.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_least_squares_problems.h"
+#include "ceres/schur_eliminator.h"
+#include "ceres/stringprintf.h"
+#include "ceres/types.h"
+#include "ceres/test_util.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+using testing::AssertionResult;
+using testing::AssertionSuccess;
+using testing::AssertionFailure;
+
+static const double kTolerance = 1e-12;
+
+class VisibilityBasedPreconditionerTest : public ::testing::Test {
+ public:
+ static const int kCameraSize = 9;
+
+ protected:
+ void SetUp() {
+ string input_file = TestFileAbsolutePath("problem-6-1384-000.lsqp");
+
+ scoped_ptr<LinearLeastSquaresProblem> problem(
+ CHECK_NOTNULL(CreateLinearLeastSquaresProblemFromFile(input_file)));
+ A_.reset(down_cast<BlockSparseMatrix*>(problem->A.release()));
+ b_.reset(problem->b.release());
+ D_.reset(problem->D.release());
+
+ const CompressedRowBlockStructure* bs =
+ CHECK_NOTNULL(A_->block_structure());
+ const int num_col_blocks = bs->cols.size();
+
+ num_cols_ = A_->num_cols();
+ num_rows_ = A_->num_rows();
+ num_eliminate_blocks_ = problem->num_eliminate_blocks;
+ num_camera_blocks_ = num_col_blocks - num_eliminate_blocks_;
+ options_.elimination_groups.push_back(num_eliminate_blocks_);
+ options_.elimination_groups.push_back(
+ A_->block_structure()->cols.size() - num_eliminate_blocks_);
+
+ vector<int> blocks(num_col_blocks - num_eliminate_blocks_, 0);
+ for (int i = num_eliminate_blocks_; i < num_col_blocks; ++i) {
+ blocks[i - num_eliminate_blocks_] = bs->cols[i].size;
+ }
+
+ // The input matrix is a real jacobian and fairly poorly
+ // conditioned. Setting D to a large constant makes the normal
+ // equations better conditioned and makes the tests below better
+ // conditioned.
+ VectorRef(D_.get(), num_cols_).setConstant(10.0);
+
+ schur_complement_.reset(new BlockRandomAccessDenseMatrix(blocks));
+ Vector rhs(schur_complement_->num_rows());
+
+ scoped_ptr<SchurEliminatorBase> eliminator;
+ eliminator.reset(SchurEliminatorBase::Create(options_));
+ eliminator->Init(num_eliminate_blocks_, bs);
+ eliminator->Eliminate(A_.get(), b_.get(), D_.get(),
+ schur_complement_.get(), rhs.data());
+ }
+
+
+ AssertionResult IsSparsityStructureValid() {
+ preconditioner_->InitStorage(*A_->block_structure());
+ const HashSet<pair<int, int> >& cluster_pairs = get_cluster_pairs();
+ const vector<int>& cluster_membership = get_cluster_membership();
+
+ for (int i = 0; i < num_camera_blocks_; ++i) {
+ for (int j = i; j < num_camera_blocks_; ++j) {
+ if (cluster_pairs.count(make_pair(cluster_membership[i],
+ cluster_membership[j]))) {
+ if (!IsBlockPairInPreconditioner(i, j)) {
+ return AssertionFailure()
+ << "block pair (" << i << "," << j << "missing";
+ }
+ } else {
+ if (IsBlockPairInPreconditioner(i, j)) {
+ return AssertionFailure()
+ << "block pair (" << i << "," << j << "should not be present";
+ }
+ }
+ }
+ }
+ return AssertionSuccess();
+ }
+
+ AssertionResult PreconditionerValuesMatch() {
+ preconditioner_->Update(*A_, D_.get());
+ const HashSet<pair<int, int> >& cluster_pairs = get_cluster_pairs();
+ const BlockRandomAccessSparseMatrix* m = get_m();
+ Matrix preconditioner_matrix;
+ m->matrix()->ToDenseMatrix(&preconditioner_matrix);
+ ConstMatrixRef full_schur_complement(schur_complement_->values(),
+ m->num_rows(),
+ m->num_rows());
+ const int num_clusters = get_num_clusters();
+ const int kDiagonalBlockSize =
+ kCameraSize * num_camera_blocks_ / num_clusters;
+
+ for (int i = 0; i < num_clusters; ++i) {
+ for (int j = i; j < num_clusters; ++j) {
+ double diff = 0.0;
+ if (cluster_pairs.count(make_pair(i, j))) {
+ diff =
+ (preconditioner_matrix.block(kDiagonalBlockSize * i,
+ kDiagonalBlockSize * j,
+ kDiagonalBlockSize,
+ kDiagonalBlockSize) -
+ full_schur_complement.block(kDiagonalBlockSize * i,
+ kDiagonalBlockSize * j,
+ kDiagonalBlockSize,
+ kDiagonalBlockSize)).norm();
+ } else {
+ diff = preconditioner_matrix.block(kDiagonalBlockSize * i,
+ kDiagonalBlockSize * j,
+ kDiagonalBlockSize,
+ kDiagonalBlockSize).norm();
+ }
+ if (diff > kTolerance) {
+ return AssertionFailure()
+ << "Preconditioner block " << i << " " << j << " differs "
+ << "from expected value by " << diff;
+ }
+ }
+ }
+ return AssertionSuccess();
+ }
+
+ // Accessors
+ int get_num_blocks() { return preconditioner_->num_blocks_; }
+
+ int get_num_clusters() { return preconditioner_->num_clusters_; }
+ int* get_mutable_num_clusters() { return &preconditioner_->num_clusters_; }
+
+ const vector<int>& get_block_size() {
+ return preconditioner_->block_size_; }
+
+ vector<int>* get_mutable_block_size() {
+ return &preconditioner_->block_size_; }
+
+ const vector<int>& get_cluster_membership() {
+ return preconditioner_->cluster_membership_;
+ }
+
+ vector<int>* get_mutable_cluster_membership() {
+ return &preconditioner_->cluster_membership_;
+ }
+
+ const set<pair<int, int> >& get_block_pairs() {
+ return preconditioner_->block_pairs_;
+ }
+
+ set<pair<int, int> >* get_mutable_block_pairs() {
+ return &preconditioner_->block_pairs_;
+ }
+
+ const HashSet<pair<int, int> >& get_cluster_pairs() {
+ return preconditioner_->cluster_pairs_;
+ }
+
+ HashSet<pair<int, int> >* get_mutable_cluster_pairs() {
+ return &preconditioner_->cluster_pairs_;
+ }
+
+ bool IsBlockPairInPreconditioner(const int block1, const int block2) {
+ return preconditioner_->IsBlockPairInPreconditioner(block1, block2);
+ }
+
+ bool IsBlockPairOffDiagonal(const int block1, const int block2) {
+ return preconditioner_->IsBlockPairOffDiagonal(block1, block2);
+ }
+
+ const BlockRandomAccessSparseMatrix* get_m() {
+ return preconditioner_->m_.get();
+ }
+
+ int num_rows_;
+ int num_cols_;
+ int num_eliminate_blocks_;
+ int num_camera_blocks_;
+
+ scoped_ptr<BlockSparseMatrix> A_;
+ scoped_array<double> b_;
+ scoped_array<double> D_;
+
+ LinearSolver::Options options_;
+ scoped_ptr<VisibilityBasedPreconditioner> preconditioner_;
+ scoped_ptr<BlockRandomAccessDenseMatrix> schur_complement_;
+};
+
+#ifndef CERES_NO_PROTOCOL_BUFFERS
+TEST_F(VisibilityBasedPreconditionerTest, SchurJacobiStructure) {
+ options_.preconditioner_type = SCHUR_JACOBI;
+ preconditioner_.reset(
+ new VisibilityBasedPreconditioner(*A_->block_structure(), options_));
+ EXPECT_EQ(get_num_blocks(), num_camera_blocks_);
+ EXPECT_EQ(get_num_clusters(), num_camera_blocks_);
+ for (int i = 0; i < num_camera_blocks_; ++i) {
+ for (int j = 0; j < num_camera_blocks_; ++j) {
+ const string msg = StringPrintf("Camera pair: %d %d", i, j);
+ SCOPED_TRACE(msg);
+ if (i == j) {
+ EXPECT_TRUE(IsBlockPairInPreconditioner(i, j));
+ EXPECT_FALSE(IsBlockPairOffDiagonal(i, j));
+ } else {
+ EXPECT_FALSE(IsBlockPairInPreconditioner(i, j));
+ EXPECT_TRUE(IsBlockPairOffDiagonal(i, j));
+ }
+ }
+ }
+}
+
+TEST_F(VisibilityBasedPreconditionerTest, OneClusterClusterJacobi) {
+ options_.preconditioner_type = CLUSTER_JACOBI;
+ preconditioner_.reset(
+ new VisibilityBasedPreconditioner(*A_->block_structure(), options_));
+
+ // Override the clustering to be a single clustering containing all
+ // the cameras.
+ vector<int>& cluster_membership = *get_mutable_cluster_membership();
+ for (int i = 0; i < num_camera_blocks_; ++i) {
+ cluster_membership[i] = 0;
+ }
+
+ *get_mutable_num_clusters() = 1;
+
+ HashSet<pair<int, int> >& cluster_pairs = *get_mutable_cluster_pairs();
+ cluster_pairs.clear();
+ cluster_pairs.insert(make_pair(0, 0));
+
+ EXPECT_TRUE(IsSparsityStructureValid());
+ EXPECT_TRUE(PreconditionerValuesMatch());
+
+ // Multiplication by the inverse of the preconditioner.
+ const int num_rows = schur_complement_->num_rows();
+ ConstMatrixRef full_schur_complement(schur_complement_->values(),
+ num_rows,
+ num_rows);
+ Vector x(num_rows);
+ Vector y(num_rows);
+ Vector z(num_rows);
+
+ for (int i = 0; i < num_rows; ++i) {
+ x.setZero();
+ y.setZero();
+ z.setZero();
+ x[i] = 1.0;
+ preconditioner_->RightMultiply(x.data(), y.data());
+ z = full_schur_complement
+ .selfadjointView<Eigen::Upper>()
+ .ldlt().solve(x);
+ double max_relative_difference =
+ ((y - z).array() / z.array()).matrix().lpNorm<Eigen::Infinity>();
+ EXPECT_NEAR(max_relative_difference, 0.0, kTolerance);
+ }
+}
+
+
+
+TEST_F(VisibilityBasedPreconditionerTest, ClusterJacobi) {
+ options_.preconditioner_type = CLUSTER_JACOBI;
+ preconditioner_.reset(
+ new VisibilityBasedPreconditioner(*A_->block_structure(), options_));
+
+ // Override the clustering to be equal number of cameras.
+ vector<int>& cluster_membership = *get_mutable_cluster_membership();
+ cluster_membership.resize(num_camera_blocks_);
+ static const int kNumClusters = 3;
+
+ for (int i = 0; i < num_camera_blocks_; ++i) {
+ cluster_membership[i] = (i * kNumClusters) / num_camera_blocks_;
+ }
+ *get_mutable_num_clusters() = kNumClusters;
+
+ HashSet<pair<int, int> >& cluster_pairs = *get_mutable_cluster_pairs();
+ cluster_pairs.clear();
+ for (int i = 0; i < kNumClusters; ++i) {
+ cluster_pairs.insert(make_pair(i, i));
+ }
+
+ EXPECT_TRUE(IsSparsityStructureValid());
+ EXPECT_TRUE(PreconditionerValuesMatch());
+}
+
+
+TEST_F(VisibilityBasedPreconditionerTest, ClusterTridiagonal) {
+ options_.preconditioner_type = CLUSTER_TRIDIAGONAL;
+ preconditioner_.reset(
+ new VisibilityBasedPreconditioner(*A_->block_structure(), options_));
+ static const int kNumClusters = 3;
+
+ // Override the clustering to be 3 clusters.
+ vector<int>& cluster_membership = *get_mutable_cluster_membership();
+ cluster_membership.resize(num_camera_blocks_);
+ for (int i = 0; i < num_camera_blocks_; ++i) {
+ cluster_membership[i] = (i * kNumClusters) / num_camera_blocks_;
+ }
+ *get_mutable_num_clusters() = kNumClusters;
+
+ // Spanning forest has structure 0-1 2
+ HashSet<pair<int, int> >& cluster_pairs = *get_mutable_cluster_pairs();
+ cluster_pairs.clear();
+ for (int i = 0; i < kNumClusters; ++i) {
+ cluster_pairs.insert(make_pair(i, i));
+ }
+ cluster_pairs.insert(make_pair(0, 1));
+
+ EXPECT_TRUE(IsSparsityStructureValid());
+ EXPECT_TRUE(PreconditionerValuesMatch());
+}
+#endif // CERES_NO_PROTOCOL_BUFFERS
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_NO_SUITESPARSE
diff --git a/internal/ceres/visibility_test.cc b/internal/ceres/visibility_test.cc
new file mode 100644
index 0000000..793a19d
--- /dev/null
+++ b/internal/ceres/visibility_test.cc
@@ -0,0 +1,203 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: kushalav@google.com (Avanish Kushal)
+// sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/visibility.h"
+
+#include <set>
+#include <vector>
+#include "ceres/block_structure.h"
+#include "ceres/graph.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace ceres {
+namespace internal {
+
+class VisibilityTest : public ::testing::Test {
+};
+
+TEST(VisibilityTest, SimpleMatrix) {
+ // A = [1 0 0 0 0 1
+ // 1 0 0 1 0 0
+ // 0 1 1 0 0 0
+ // 0 1 0 0 1 0]
+
+ int num_cols = 6;
+ int num_eliminate_blocks = 2;
+ CompressedRowBlockStructure bs;
+
+ // Row 1
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 0;
+ row.cells.push_back(Cell(0, 0));
+ row.cells.push_back(Cell(5, 0));
+ }
+
+ // Row 2
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 2;
+ row.cells.push_back(Cell(0, 1));
+ row.cells.push_back(Cell(3, 1));
+ }
+
+ // Row 3
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 4;
+ row.cells.push_back(Cell(1, 2));
+ row.cells.push_back(Cell(2, 2));
+ }
+
+ // Row 4
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 6;
+ row.cells.push_back(Cell(1, 3));
+ row.cells.push_back(Cell(4, 3));
+ }
+ bs.cols.resize(num_cols);
+
+ vector< set<int> > visibility;
+ ComputeVisibility(bs, num_eliminate_blocks, &visibility);
+ ASSERT_EQ(visibility.size(), num_cols - num_eliminate_blocks);
+ for (int i = 0; i < visibility.size(); ++i) {
+ ASSERT_EQ(visibility[i].size(), 1);
+ }
+
+ scoped_ptr<Graph<int> > graph(CreateSchurComplementGraph(visibility));
+ EXPECT_EQ(graph->vertices().size(), visibility.size());
+ for (int i = 0; i < visibility.size(); ++i) {
+ EXPECT_EQ(graph->VertexWeight(i), 1.0);
+ }
+
+ for (int i = 0; i < visibility.size(); ++i) {
+ for (int j = i; j < visibility.size(); ++j) {
+ double edge_weight = 0.0;
+ if ((i == 1 && j == 3) || (i == 0 && j == 2) || (i == j)) {
+ edge_weight = 1.0;
+ }
+
+ EXPECT_EQ(graph->EdgeWeight(i, j), edge_weight)
+ << "Edge: " << i << " " << j
+ << " weight: " << graph->EdgeWeight(i, j)
+ << " expected weight: " << edge_weight;
+ }
+ }
+}
+
+
+TEST(VisibilityTest, NoEBlocks) {
+ // A = [1 0 0 0 0 0
+ // 1 0 0 0 0 0
+ // 0 1 0 0 0 0
+ // 0 1 0 0 0 0]
+
+ int num_cols = 6;
+ int num_eliminate_blocks = 2;
+ CompressedRowBlockStructure bs;
+
+ // Row 1
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 0;
+ row.cells.push_back(Cell(0, 0));
+ }
+
+ // Row 2
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 2;
+ row.cells.push_back(Cell(0, 1));
+ }
+
+ // Row 3
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 4;
+ row.cells.push_back(Cell(1, 2));
+ }
+
+ // Row 4
+ {
+ bs.rows.push_back(CompressedRow());
+ CompressedRow& row = bs.rows.back();
+ row.block.size = 2;
+ row.block.position = 6;
+ row.cells.push_back(Cell(1, 3));
+ }
+ bs.cols.resize(num_cols);
+
+ vector<set<int> > visibility;
+ ComputeVisibility(bs, num_eliminate_blocks, &visibility);
+ ASSERT_EQ(visibility.size(), num_cols - num_eliminate_blocks);
+ for (int i = 0; i < visibility.size(); ++i) {
+ ASSERT_EQ(visibility[i].size(), 0);
+ }
+
+ scoped_ptr<Graph<int> > graph(CreateSchurComplementGraph(visibility));
+ EXPECT_EQ(graph->vertices().size(), visibility.size());
+ for (int i = 0; i < visibility.size(); ++i) {
+ EXPECT_EQ(graph->VertexWeight(i), 1.0);
+ }
+
+ for (int i = 0; i < visibility.size(); ++i) {
+ for (int j = i; j < visibility.size(); ++j) {
+ double edge_weight = 0.0;
+ if (i == j) {
+ edge_weight = 1.0;
+ }
+ EXPECT_EQ(graph->EdgeWeight(i, j), edge_weight)
+ << "Edge: " << i << " " << j
+ << " weight: " << graph->EdgeWeight(i, j)
+ << " expected weight: " << edge_weight;
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/wall_time.cc b/internal/ceres/wall_time.cc
new file mode 100644
index 0000000..0dce19f
--- /dev/null
+++ b/internal/ceres/wall_time.cc
@@ -0,0 +1,49 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: strandmark@google.com (Petter Strandmark)
+
+#ifdef CERES_USE_OPENMP
+#include <omp.h>
+#else
+#include <ctime>
+#endif
+
+namespace ceres {
+namespace internal {
+
+double WallTimeInSeconds() {
+#ifdef CERES_USE_OPENMP
+ return omp_get_wtime();
+#else
+ return static_cast<double>(std::time(NULL));
+#endif
+}
+
+} // namespace internal
+} // namespace ceres
diff --git a/internal/ceres/wall_time.h b/internal/ceres/wall_time.h
new file mode 100644
index 0000000..1a6e3bb
--- /dev/null
+++ b/internal/ceres/wall_time.h
@@ -0,0 +1,44 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: strandmark@google.com (Petter Strandmark)
+
+#ifndef CERES_INTERNAL_WALL_TIME_H_
+#define CERES_INTERNAL_WALL_TIME_H_
+
+namespace ceres {
+namespace internal {
+
+// Returns time, in seconds, from some arbitrary starting point. Has very
+// high precision if OpenMP is available, otherwise only second granularity.
+double WallTimeInSeconds();
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_WALL_TIME_H_
diff --git a/jni/Android.mk.ndk b/jni/Android.mk.ndk
new file mode 100644
index 0000000..785dd8e
--- /dev/null
+++ b/jni/Android.mk.ndk
@@ -0,0 +1,177 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+# http://code.google.com/p/ceres-solver/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+# used to endorse or promote products derived from this software without
+# specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: settinger@google.com (Scott Ettinger)
+# keir@google.com (Keir Mierle)
+#
+# Builds Ceres for Android, using the standard toolchain (not standalone). It
+# uses STLPort instead of GNU C++. This is useful for anyone wishing to ship
+# GPL-free code. This cannot build the tests or other parts of Ceres; only the
+# core libraries. If you need a more complete Ceres build, consider using the
+# CMake toolchain (noting that the standalone toolchain doesn't work with
+# STLPort).
+#
+# You will have to specify the environment EIGEN_PATH to point to the Eigen
+# sources when building. For example:
+#
+# EIGEN_PATH=/home/keir/src/eigen-3.0.5 ndk-build -j
+#
+# It is also possible to specify CERES_EXTRA_DEFINES, in case you need to pass
+# more definitions to the C compiler.
+#
+# IMPORTANT:
+#
+# The shared library built at the bottom is fake, broken, and empty. It exists
+# only to force ndk-build to build the shared library. This shouldn't be
+# necessary, but if it is missing, then ndk-build will do nothing when asked to
+# build. The produced .so library is NON-FUNCTIONAL since it has no Ceres
+# function-level dependencies. Instead, copy the static library:
+#
+# ../obj/local/armeabi-v7a/libceres.a
+#
+# into your own project, then link it into your binary in your Android.mk file.
+#
+# Reducing binary size:
+#
+# This build includes the Schur specializations, which cause binary bloat. If
+# you don't need them for your application, consider adding:
+#
+# -DCERES_RESTRICT_SCHUR_SPECIALIZATION
+#
+# to the LOCAL_CFLAGS variable below, and commenting out all the
+# generated/schur_eliminator_2_2_2.cc-alike files, leaving only the _d_d_d one.
+
+
+# This file is for NDK use only.
+
+LOCAL_PATH := $(call my-dir)
+
+EIGEN_PATH := $(EIGEN_PATH)
+
+CERES_SRC_PATH := ../internal/ceres
+
+include $(CLEAR_VARS)
+LOCAL_C_INCLUDES := ../internal \
+ ../internal/ceres \
+ ../include \
+ ../internal/ceres/miniglog \
+ $(EIGEN_PATH)
+
+LOCAL_CPP_EXTENSION := .cc
+LOCAL_CFLAGS := -DCERES_NO_PROTOCOL_BUFFERS \
+ -DCERES_NO_SUITESPARSE \
+ -DCERES_NO_GFLAGS \
+ -DCERES_NO_THREADS \
+ -DCERES_NO_CXSPARSE \
+ -DCERES_NO_TR1 \
+ -DCERES_WORK_AROUND_ANDROID_NDK_COMPILER_BUG
+
+# On Android NDK 8b, GCC gives spurrious warnings about ABI incompatibility for
+# which there is no solution. Hide the warning instead.
+LOCAL_CFLAGS += -Wno-psabi
+
+LOCAL_SRC_FILES := $(CERES_SRC_PATH)/array_utils.cc \
+ $(CERES_SRC_PATH)/block_evaluate_preparer.cc \
+ $(CERES_SRC_PATH)/block_jacobian_writer.cc \
+ $(CERES_SRC_PATH)/block_jacobi_preconditioner.cc \
+ $(CERES_SRC_PATH)/block_random_access_dense_matrix.cc \
+ $(CERES_SRC_PATH)/block_random_access_matrix.cc \
+ $(CERES_SRC_PATH)/block_random_access_sparse_matrix.cc \
+ $(CERES_SRC_PATH)/block_sparse_matrix.cc \
+ $(CERES_SRC_PATH)/block_structure.cc \
+ $(CERES_SRC_PATH)/canonical_views_clustering.cc \
+ $(CERES_SRC_PATH)/cgnr_solver.cc \
+ $(CERES_SRC_PATH)/compressed_row_jacobian_writer.cc \
+ $(CERES_SRC_PATH)/compressed_row_sparse_matrix.cc \
+ $(CERES_SRC_PATH)/conditioned_cost_function.cc \
+ $(CERES_SRC_PATH)/conjugate_gradients_solver.cc \
+ $(CERES_SRC_PATH)/coordinate_descent_minimizer.cc \
+ $(CERES_SRC_PATH)/corrector.cc \
+ $(CERES_SRC_PATH)/dense_normal_cholesky_solver.cc \
+ $(CERES_SRC_PATH)/dense_qr_solver.cc \
+ $(CERES_SRC_PATH)/dense_sparse_matrix.cc \
+ $(CERES_SRC_PATH)/detect_structure.cc \
+ $(CERES_SRC_PATH)/dogleg_strategy.cc \
+ $(CERES_SRC_PATH)/evaluator.cc \
+ $(CERES_SRC_PATH)/file.cc \
+ $(CERES_SRC_PATH)/gradient_checking_cost_function.cc \
+ $(CERES_SRC_PATH)/implicit_schur_complement.cc \
+ $(CERES_SRC_PATH)/iterative_schur_complement_solver.cc \
+ $(CERES_SRC_PATH)/levenberg_marquardt_strategy.cc \
+ $(CERES_SRC_PATH)/linear_least_squares_problems.cc \
+ $(CERES_SRC_PATH)/linear_operator.cc \
+ $(CERES_SRC_PATH)/linear_solver.cc \
+ $(CERES_SRC_PATH)/local_parameterization.cc \
+ $(CERES_SRC_PATH)/loss_function.cc \
+ $(CERES_SRC_PATH)/miniglog/glog/logging.cc \
+ $(CERES_SRC_PATH)/normal_prior.cc \
+ $(CERES_SRC_PATH)/parameter_block_ordering.cc \
+ $(CERES_SRC_PATH)/partitioned_matrix_view.cc \
+ $(CERES_SRC_PATH)/polynomial_solver.cc \
+ $(CERES_SRC_PATH)/problem.cc \
+ $(CERES_SRC_PATH)/problem_impl.cc \
+ $(CERES_SRC_PATH)/program.cc \
+ $(CERES_SRC_PATH)/residual_block.cc \
+ $(CERES_SRC_PATH)/residual_block_utils.cc \
+ $(CERES_SRC_PATH)/runtime_numeric_diff_cost_function.cc \
+ $(CERES_SRC_PATH)/schur_complement_solver.cc \
+ $(CERES_SRC_PATH)/schur_eliminator.cc \
+ $(CERES_SRC_PATH)/scratch_evaluate_preparer.cc \
+ $(CERES_SRC_PATH)/solver.cc \
+ $(CERES_SRC_PATH)/solver_impl.cc \
+ $(CERES_SRC_PATH)/sparse_matrix.cc \
+ $(CERES_SRC_PATH)/sparse_normal_cholesky_solver.cc \
+ $(CERES_SRC_PATH)/split.cc \
+ $(CERES_SRC_PATH)/stringprintf.cc \
+ $(CERES_SRC_PATH)/suitesparse.cc \
+ $(CERES_SRC_PATH)/triplet_sparse_matrix.cc \
+ $(CERES_SRC_PATH)/trust_region_minimizer.cc \
+ $(CERES_SRC_PATH)/trust_region_strategy.cc \
+ $(CERES_SRC_PATH)/types.cc \
+ $(CERES_SRC_PATH)/visibility_based_preconditioner.cc \
+ $(CERES_SRC_PATH)/visibility.cc \
+ $(CERES_SRC_PATH)/wall_time.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_d_d_d.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_2.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_3.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_4.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_2_2_d.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_3.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_4.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_9.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_2_3_d.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_3.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_4.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_2_4_d.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_2.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_3.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_4.cc \
+ $(CERES_SRC_PATH)/generated/schur_eliminator_4_4_d.cc
+
+LOCAL_MODULE := ceres
+include $(BUILD_STATIC_LIBRARY)
diff --git a/jni/Application.mk b/jni/Application.mk
new file mode 100644
index 0000000..462823d
--- /dev/null
+++ b/jni/Application.mk
@@ -0,0 +1,38 @@
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+# http://code.google.com/p/ceres-solver/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+# used to endorse or promote products derived from this software without
+# specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+APP_BUILD_SCRIPT := $(call my-dir)/Android.mk
+APP_PROJECT_PATH := $(call my-dir)
+
+APP_CPPFLAGS += -fno-exceptions
+APP_CPPFLAGS += -fno-rtti
+APP_OPTIM := release
+
+# Don't use GNU libstdc++; instead use STLPort, which is free of GPL3 issues.
+APP_STL := stlport_static
+APP_ABI := armeabi-v7a
diff --git a/scripts/make_release b/scripts/make_release
new file mode 100755
index 0000000..404aa75
--- /dev/null
+++ b/scripts/make_release
@@ -0,0 +1,115 @@
+#!/bin/bash
+#
+# Ceres Solver - A fast non-linear least squares minimizer
+# Copyright 2012 Google Inc. All rights reserved.
+# http://code.google.com/p/ceres-solver/
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+# * Neither the name of Google Inc. nor the names of its contributors may be
+# used to endorse or promote products derived from this software without
+# specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: mierle@gmail.com (Keir Mierle)
+#
+# Note: you will need a fairly complete latex installation, along with
+# pygments, for this to work.
+
+if [ -z $1 ] ; then
+ echo 'usage: scripts/make_release <version>'
+ echo ' must be run from toplevel Ceres source directory'
+ exit 1
+fi
+
+TMP="/tmp/ceres-solver-$1"
+DOCS_TMP="/tmp/ceres-solver-docs-$1"
+VERSION=$(grep 'SET(CERES_VERSION' CMakeLists.txt | \
+ sed -e 's/SET(CERES_VERSION //' | \
+ sed -e 's/)//')
+ABI_VERSION=$(grep 'SET(CERES_ABI_VERSION' CMakeLists.txt | \
+ sed -e 's/SET(CERES_ABI_VERSION //' | \
+ sed -e 's/)//')
+VERSION_IN_HEADER=$(grep '#define CERES_VERSION' include/ceres/ceres.h | \
+ sed -e 's/#define CERES_VERSION //')
+ABI_VERSION_IN_HEADER=$(grep '#define CERES_ABI_VERSION' \
+ include/ceres/ceres.h | \
+ sed -e 's/#define CERES_ABI_VERSION //')
+GIT_COMMIT=$(git log -1 HEAD |grep commit)
+
+if [[ $1 != $VERSION ]] ; then
+ echo "ERROR: Version from the command line $1 does not match CERES_VERSION"
+ echo " in CMakeLists.txt, which is $VERSION. You may not be in the "
+ echo " toplevel source dir."
+ exit 1
+fi
+
+if [[ $VERSION_IN_HEADER != $VERSION ]] ; then
+ echo "ERROR: CERES_VERSION version from include/ceres/ceres.h, which is"
+ echo " $VERSION_IN_HEADER, does not match the ABI version"
+ echo " from the toplevel CMakeLists.txt, which is $ABI_VERSION."
+ echo " You may not be in the toplevel source directory, or the"
+ echo " versions are out of sync."
+ exit 1
+fi
+
+if [[ $ABI_VERSION_IN_HEADER != $ABI_VERSION ]] ; then
+ echo "ERROR: CERES_ABI_VERSION from include/ceres/ceres.h, which is"
+ echo " $ABI_VERSION_IN_HEADER, does not match the ABI version"
+ echo " from the toplevel CMakeLists.txt, which is $ABI_VERSION."
+ echo " You may not be in the toplevel source directory, or the"
+ echo " versions are out of sync."
+ exit 1
+fi
+
+# Clone the repository and clean out the git extras.
+git clone . $TMP
+rm -rf "$TMP/.git"
+
+# Build the VERSION file.
+VERSIONFILE=$TMP/VERSION
+echo "version $VERSION" >> $VERSIONFILE
+echo "abi_version $VERSION" >> $VERSIONFILE
+echo "$GIT_COMMIT" >> $VERSIONFILE
+
+# Build the documentation.
+cp -pr "$TMP/docs" $DOCS_TMP
+cd $DOCS_TMP
+curl http://minted.googlecode.com/files/minted.sty > minted.sty
+pdflatex -shell-escape ceres-solver && \
+ bibtex ceres-solver && \
+ pdflatex -shell-escape ceres-solver && \
+ pdflatex -shell-escape ceres-solver
+cp $DOCS_TMP/ceres-solver.pdf "$TMP/docs/ceres-solver.pdf"
+cp $DOCS_TMP/ceres-solver.pdf "/tmp/ceres-solver-$1.pdf"
+
+# Build the tarball.
+cd /tmp
+tar -cvzf "ceres-solver-$1.tar.gz" "ceres-solver-$1"
+
+# Don't leave a mess behind.
+rm -rf $DOCS_TMP
+rm -rf $TMP
+
+# Reminder to upload.
+echo
+echo "TODO: upload /tmp/ceres-solver-$1.tar.gz"
+echo "TODO: upload /tmp/ceres-solver-$1.pdf"
+echo
